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unitree_rl_gym
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concat typo

This commit is contained in:
Yoonyoung Cho 2025-02-16 22:13:17 +09:00
parent 4427a4c6b6
commit ff972e1a08
1 changed files with 2 additions and 2 deletions
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4
deploy/deploy_real/act_to_dof.py
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@ -89,12 +89,12 @@ class ActToDof:
else:
world_from_pelvis_quat = root_quat_wxyz.astype(np.float32)
hands_command_w = hands_command_w.astype(np.float32)
hands_command_b = np.concatenate(
hands_command_b = np.concatenate([
quat_rotate_inverse(world_from_pelvis_quat,
hands_command_w[..., :3]),
quat_rotate_inverse(world_from_pelvis_quat,
hands_command_w[..., 3:6])
)
], axis=-1)
d_quat = quat_from_angle_axis(
hands_command_b[..., 3:]