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unitree_rl_gym
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init vel with zeros

This commit is contained in:
yjinzero 2025-02-16 21:27:46 +09:00
parent 379d393207
commit 940861378a
1 changed files with 1 additions and 0 deletions
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deploy/deploy_real/state_pub.py
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@ -33,6 +33,7 @@ class StatePublisher(Node):
joint_state.header.stamp = now.to_msg() joint_state.header.stamp = now.to_msg()
joint_state.name = self.joint_names joint_state.name = self.joint_names
joint_state.position = [0.0 for _ in self.joint_names] joint_state.position = [0.0 for _ in self.joint_names]
joint_state.velocity = [0.0 for _ in self.joint_names]
n:int = min(len(self.joint_names), len(self.low_state.motor_state)) n:int = min(len(self.joint_names), len(self.low_state.motor_state))
for i in range(n): for i in range(n):