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remove transform_imu_data

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Martino Russi
2025-11-28 15:47:20 +01:00
parent 6dd86b9f43
commit 64ee8aa620
1 changed files with 0 additions and 11 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
-11
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@@ -23,7 +23,6 @@ from functools import cached_property
from typing import Any
import numpy as np
from scipy.spatial.transform import Rotation as R # noqa: N817
from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import (
LowCmd_ as hg_LowCmd,
@@ -263,13 +262,3 @@ class UnitreeG1(Robot):
gravity_orientation[1] = -2 * (qz * qy + qw * qx)
gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
return gravity_orientation
def transform_imu_data(
self, waist_yaw, waist_yaw_omega, imu_quat, imu_omega
): # transform imu data from torso to pelvis frame
"""Transform IMU data from torso to pelvis frame."""
rot_z_waist = R.from_euler("z", waist_yaw).as_matrix()
rot_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()
rot_pelvis = np.dot(rot_torso, rot_z_waist.T)
w = np.dot(rot_z_waist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega])
return R.from_matrix(rot_pelvis).as_quat()[[3, 0, 1, 2]], w