From 6e8cb33b3f8f7ed9922183e1bbe5f7e97fe648c7 Mon Sep 17 00:00:00 2001 From: yjinzero Date: Sun, 16 Feb 2025 21:29:06 +0900 Subject: [PATCH] q0 --- deploy/deploy_real/fake_world_tf_pub.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/deploy/deploy_real/fake_world_tf_pub.py b/deploy/deploy_real/fake_world_tf_pub.py index 7484022..f1b9bc3 100755 --- 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)