epilectrik
/
gr00t-WholeBodyControl
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Increase waist debug log frequency to 1Hz 

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
main
Joe DiPrima 4 weeks ago
parent
d4d5ec5200
commit
ee9eb4ade4
1 changed files with 1 additions and 1 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp

2
gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
View File

@ -2844,7 +2844,7 @@ class G1Deploy {
// Debug: log raw NN actions for waist joints every 5 seconds // Debug: log raw NN actions for waist joints every 5 seconds
static int waist_dbg_ctr = 0; static int waist_dbg_ctr = 0;
if (++waist_dbg_ctr >= 250) {
if (++waist_dbg_ctr >= 50) {
waist_dbg_ctr = 0; waist_dbg_ctr = 0;
double raw_yaw = floatarr[isaaclab_to_mujoco[12]]; double raw_yaw = floatarr[isaaclab_to_mujoco[12]];
double raw_roll = floatarr[isaaclab_to_mujoco[13]]; double raw_roll = floatarr[isaaclab_to_mujoco[13]];

Write Preview
Loading…
Cancel
Save