q0

2025-02-16 21:29:06 +09:00 · 2025-02-16 21:29:06 +09:00 · 6e8cb33b3f
parent 940861378a
commit 6e8cb33b3f
1 changed files with 1 additions and 1 deletions
--- a/deploy/deploy_real/fake_world_tf_pub.py
+++ b/deploy/deploy_real/fake_world_tf_pub.py
@ -69,7 +69,7 @@ class FakeWorldPublisher(Node):
    def pelvis_height(self, low_state: LowStateHG):
        robot = self.robot
        q_mot = [self.low_state.motor_state[i_mot].q for i_mot in range(29)]
-        q_pin = np.zeros_like(self.ikctrl.cfg.q)
+        q_pin = np.zeros_like(self.robot.q0)
        q_pin[self.pin_from_mot] = q_mot
        cfg = pink.Configuration(robot.model, robot.data, q_pin)