From 64ee8aa62099f0dd24d500f6fd5b966c8c480e66 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 28 Nov 2025 15:47:20 +0100 Subject: [PATCH] remove transform_imu_data --- src/lerobot/robots/unitree_g1/unitree_g1.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 2ba78484b..d16833085 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -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