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unitree_rl_gym
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map to floats

This commit is contained in:
yjinzero 2025-02-16 21:36:42 +09:00
parent 5523771e2a
commit da645b8242
1 changed files with 4 additions and 1 deletions
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5
deploy/deploy_real/fake_world_tf_pub.py
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@ -67,7 +67,10 @@ class FakeWorldPublisher(Node):
# Set world_from_pelvis quaternion based on IMU state # Set world_from_pelvis quaternion based on IMU state
# TODO(ycho): consider applying 90-deg offset? # TODO(ycho): consider applying 90-deg offset?
qw, qx, qy, qz = self.low_state.imu_state.quaternion qw, qx, qy, qz = [
float(x) for x in
self.low_state.imu_state.quaternion
]
t.transform.rotation.x = qx t.transform.rotation.x = qx
t.transform.rotation.y = qy t.transform.rotation.y = qy
t.transform.rotation.z = qz t.transform.rotation.z = qz