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unitree_rl_gym
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fix typo

This commit is contained in:
yjinzero 2025-02-16 21:36:02 +09:00
parent e19e43f45e
commit 5523771e2a
1 changed files with 2 additions and 2 deletions
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4
deploy/deploy_real/fake_world_tf_pub.py
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@ -91,9 +91,9 @@ class FakeWorldPublisher(Node):
# NOTE(ycho): 0.02 = "roll_link" height (approx) # NOTE(ycho): 0.02 = "roll_link" height (approx)
world_from_pelvis_quat = np.asarray(low_state.imu_state.quaternion, world_from_pelvis_quat = np.asarray(low_state.imu_state.quaternion,
dtype=np.float32) dtype=np.float32)
xyz_rf = np.asarray( pelvis_from_rf.translatio, xyz_rf = np.asarray( pelvis_from_rf.translation,
dtype=np.float32) dtype=np.float32)
xyz_lf = np.asarray( pelvis_from_lf.translatio, xyz_lf = np.asarray( pelvis_from_lf.translation,
dtype=np.float32) dtype=np.float32)
pelvis_z_rf = -quat_rotate( pelvis_z_rf = -quat_rotate(