From c77bd33f712e8787e70fc640da4c5712558f3935 Mon Sep 17 00:00:00 2001 From: Yoonyoung Cho Date: Sun, 16 Feb 2025 22:40:18 +0900 Subject: [PATCH] comment out validation --- deploy/deploy_real/act_to_dof.py | 2 +- deploy/deploy_real/deploy_real_ros_eetrack.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/deploy/deploy_real/act_to_dof.py b/deploy/deploy_real/act_to_dof.py index 897890b..5efe397 100644 --- a/deploy/deploy_real/act_to_dof.py +++ b/deploy/deploy_real/act_to_dof.py @@ -131,7 +131,7 @@ class ActToDof: target_dof_pos += q_mot target_dof_pos[self.mot_from_arm] += res_q_ik - if True: + if False: target_dof_pos[self.mot_from_arm] += np.clip( 0.3 * left_arm_residual, -0.2, 0.2) diff --git a/deploy/deploy_real/deploy_real_ros_eetrack.py b/deploy/deploy_real/deploy_real_ros_eetrack.py index 7a8cdd5..d197f8a 100644 --- a/deploy/deploy_real/deploy_real_ros_eetrack.py +++ b/deploy/deploy_real/deploy_real_ros_eetrack.py @@ -617,16 +617,16 @@ class Controller: rot_type='quat' ) xyz0, quat_wxyz0 = world_from_pelvis - xyz1, quat_wxyz1 = self.default_pose_b[:3], self.default_pose_b[3:7] + xyz1, quat_wxyz1 = self.default_pose_b[0:3], self.default_pose_b[3:7] xyz, quat = combine_frame_transforms( xyz0, quat_wxyz0, xyz1, quat_wxyz1) self.target_pose = np.concatenate([xyz, quat]) - print('validation...', - self.target_pose, - body_pose(self.tf_buffer, - 'left_hand_palm_link', - 'world', rot_type='quat')) + #print('validation...', + # self.target_pose, + # body_pose(self.tf_buffer, + # 'left_hand_palm_link', + # 'world', rot_type='quat')) if True: self.target_pose[..., :3] += 0.01 * self.cmd