From 2e7355a346a2e27010413aaa47d9ff2b8fe043aa Mon Sep 17 00:00:00 2001 From: yjinzero Date: Sat, 15 Feb 2025 11:17:16 +0900 Subject: [PATCH] add pin_from_lab --- deploy/deploy_real/act_to_dof.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/deploy/deploy_real/act_to_dof.py b/deploy/deploy_real/act_to_dof.py index 36c9424..3e0a03d 100644 --- a/deploy/deploy_real/act_to_dof.py +++ b/deploy/deploy_real/act_to_dof.py @@ -20,6 +20,10 @@ class ActToDof: self.ikctrl.joint_names, self.config.motor_joint ) + self.pin_from_lab = index_map( + self.ikctrl.joint_names, + self.config.lab_joint + ) self.mot_from_arm = index_map( self.config.motor_joint, self.config.arm_joint