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unitree_rl_gym
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comment out validation

This commit is contained in:
Yoonyoung Cho 2025-02-16 22:40:18 +09:00
parent d613178981
commit c77bd33f71
2 changed files with 7 additions and 7 deletions
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2
deploy/deploy_real/act_to_dof.py
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@ -131,7 +131,7 @@ class ActToDof:
target_dof_pos += q_mot target_dof_pos += q_mot
target_dof_pos[self.mot_from_arm] += res_q_ik target_dof_pos[self.mot_from_arm] += res_q_ik
if True: if False:
target_dof_pos[self.mot_from_arm] += np.clip( target_dof_pos[self.mot_from_arm] += np.clip(
0.3 * left_arm_residual, 0.3 * left_arm_residual,
-0.2, 0.2) -0.2, 0.2)

12
deploy/deploy_real/deploy_real_ros_eetrack.py
View File

@ -617,16 +617,16 @@ class Controller:
rot_type='quat' rot_type='quat'
) )
xyz0, quat_wxyz0 = world_from_pelvis 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( xyz, quat = combine_frame_transforms(
xyz0, quat_wxyz0, xyz0, quat_wxyz0,
xyz1, quat_wxyz1) xyz1, quat_wxyz1)
self.target_pose = np.concatenate([xyz, quat]) self.target_pose = np.concatenate([xyz, quat])
print('validation...', #print('validation...',
self.target_pose, # self.target_pose,
body_pose(self.tf_buffer, # body_pose(self.tf_buffer,
'left_hand_palm_link', # 'left_hand_palm_link',
'world', rot_type='quat')) # 'world', rot_type='quat'))
if True: if True:
self.target_pose[..., :3] += 0.01 * self.cmd self.target_pose[..., :3] += 0.01 * self.cmd