From 1173549d3c1b83f2f756e668a165ca43e3b26ebe Mon Sep 17 00:00:00 2001 From: silencht Date: Tue, 1 Jul 2025 10:15:00 +0800 Subject: [PATCH] [fix] var name bug --- teleop/robot_control/robot_arm.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py index 90cbc43..b589d26 100644 --- a/teleop/robot_control/robot_arm.py +++ b/teleop/robot_control/robot_arm.py @@ -12,7 +12,7 @@ from unitree_sdk2py.idl.unitree_go.msg.dds_ import ( LowCmd_ as go_LowCmd, LowS from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ import logging_mp -logger_mp = logging_mp.get_logger(__name__) +logger_mp = logging_mp.get_logger(__name__,level=logging_mp.DEBUG) kTopicLowCommand_Debug = "rt/lowcmd" kTopicLowCommand_Motion = "rt/arm_sdk" @@ -233,7 +233,7 @@ class G1_29_ArmController: time.sleep(0.02) logger_mp.info("[G1_29_ArmController] both arms have reached the home position.") break - attempts += 1 + current_attempts += 1 time.sleep(0.05) def speed_gradual_max(self, t = 5.0): @@ -1104,7 +1104,7 @@ if __name__ == "__main__": import pinocchio as pin arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False) - arm = G1_29_ArmController() + arm = G1_29_ArmController(simulation_mode=True) # arm_ik = G1_23_ArmIK(Unit_Test = True, Visualization = False) # arm = G1_23_ArmController() # arm_ik = H1_2_ArmIK(Unit_Test = True, Visualization = False)