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unitree_rl_gym
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add pin_from_lab

This commit is contained in:
yjinzero 2025-02-15 11:17:16 +09:00
parent 8a2fce5a45
commit 2e7355a346
1 changed files with 4 additions and 0 deletions
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4
deploy/deploy_real/act_to_dof.py
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@ -20,6 +20,10 @@ class ActToDof:
self.ikctrl.joint_names, self.ikctrl.joint_names,
self.config.motor_joint self.config.motor_joint
) )
self.pin_from_lab = index_map(
self.ikctrl.joint_names,
self.config.lab_joint
)
self.mot_from_arm = index_map( self.mot_from_arm = index_map(
self.config.motor_joint, self.config.motor_joint,
self.config.arm_joint self.config.arm_joint