From 2417e6a82a88beaf08e07e00d61a06c07dfe3132 Mon Sep 17 00:00:00 2001
From: yjinzero <yjinzero@gmail.com>
Date: Sun, 16 Feb 2025 21:32:15 +0900
Subject: [PATCH] pinfrommot

---
 deploy/deploy_real/fake_world_tf_pub.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/deploy/deploy_real/fake_world_tf_pub.py b/deploy/deploy_real/fake_world_tf_pub.py
index 36b1a94..4ba52c9 100755
--- a/deploy/deploy_real/fake_world_tf_pub.py
+++ b/deploy/deploy_real/fake_world_tf_pub.py
@@ -37,6 +37,12 @@ class FakeWorldPublisher(Node):
             10)
         self.tf_broadcaster = TransformBroadcaster(self)
 
+        pin_joint = self.robot.model.names[1:]
+        self.pin_from_mot = index_map(
+            pin_joint,
+            self.config.motor_joint
+        )
+
     def on_low_state(self,
                      msg: LowStateHG):
         self.low_state = msg