search

unitreerobotics / avp_teleoperate

Other
383 stars 30 forks source link

Problems in controling the arms #8

Open PointsCoder opened 4 days ago

PointsCoder commented 4 days ago

Thanks for open-sourcing this code.

I encountered some problems when running the code. My robot setup is H1_2+Inspire hand. Now I could control the dex hand using Vision Pro. However, the arms are not working.

Here is the program information: 截图 2024-10-12 17-44-26

Running cyclonedds ps: image

Running cyclonedds subscribe rt/lowstate: image

Could you please help me with this? Thank you!

silencht commented 3 days ago

I found that the mode_machine in your subscribed rt/lowstate is 6 and the default value in unitree_dds_wrapper is 4. You can try to modify the initial value of mode_machine in unitree_dds_wrapper to 6 and test again.

FILE PATH: unitree_dds_wrapper/python/unitree_dds_wrapper/idl/unitree_hg/msg/dds_/_LowCmd_.py

Change 

mode_machine: types.uint8 = field(default_factory=lambda: 4)

to

mode_machine: types.uint8 = field(default_factory=lambda: 6)