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unitree_rl_gym
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dtype -> 32

This commit is contained in:
Yoonyoung Cho 2025-02-16 22:12:44 +09:00
parent 3ff1403b6d
commit 4427a4c6b6
1 changed files with 2 additions and 1 deletions
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deploy/deploy_real/act_to_dof.py
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@ -87,7 +87,8 @@ class ActToDof:
if root_quat_wxyz is None: if root_quat_wxyz is None:
hands_command_b = hands_command_w hands_command_b = hands_command_w
else: else:
world_from_pelvis_quat = root_quat_wxyz world_from_pelvis_quat = root_quat_wxyz.astype(np.float32)
hands_command_w = hands_command_w.astype(np.float32)
hands_command_b = np.concatenate( hands_command_b = np.concatenate(
quat_rotate_inverse(world_from_pelvis_quat, quat_rotate_inverse(world_from_pelvis_quat,
hands_command_w[..., :3]), hands_command_w[..., :3]),