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unitree_rl_gym
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why do we have 35 joints?

This commit is contained in:
yjinzero 2025-02-13 21:58:23 +09:00
parent 9ace3b0668
commit a81f4fc4a4
1 changed files with 4 additions and 3 deletions
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7
deploy/deploy_real/state_pub.py
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@ -42,9 +42,10 @@ class StatePublisher(Node):
joint_state.name = 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)):
# print('a', len(self.joint_names)) # 29
# print('b', len(self.low_state.motor_state)) # 35??
n:int = min(len(self.joint_names), len(self.low_state.motor_state))
for i in range(n):
joint_state.position[i] = self.low_state.motor_state[i].q
self.joint_pub.publish(joint_state)