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unitree_rl_gym
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Yoonyoung Cho 2025-02-16 22:09:46 +09:00
parent 4f7510241d
commit 04ce90f3de
1 changed files with 2 additions and 0 deletions
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deploy/deploy_real/deploy_real_ros_eetrack.py
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@ -619,6 +619,8 @@ class Controller:
) )
xyz = world_from_pelvis.transform.translation xyz = world_from_pelvis.transform.translation
rxn = world_from_pelvis.transform.rotation rxn = world_from_pelvis.transform.rotation
xyz = np.array([txn.x, txn.y, txn.z])
quat_wxyz = np.array([rxn.w, rxn.x, rxn.y, rxn.z]) quat_wxyz = np.array([rxn.w, rxn.x, rxn.y, rxn.z])
root_state_w = np.zeros(7) root_state_w = np.zeros(7)
root_state_w[0:3] = xyz root_state_w[0:3] = xyz