EmbodiedAI
/
unitree_rl_gym
mirror of https://github.com/unitreerobotics/unitree_rl_gym.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

debug qlen

This commit is contained in:
yjinzero 2025-02-13 21:57:05 +09:00
parent 55cf041ccf
commit 9ace3b0668
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
deploy/deploy_real/state_pub.py
View File

@ -41,6 +41,9 @@ 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]
print('a', len(self.joint_names))
print('b', len(self.low_state.motor_state))
for i in range(len(self.low_state.motor_state)): for i in range(len(self.low_state.motor_state)):
joint_state.position[i] = self.low_state.motor_state[i].q joint_state.position[i] = self.low_state.motor_state[i].q
self.joint_pub.publish(joint_state) self.joint_pub.publish(joint_state)