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apirrone 2025-08-04 10:34:14 +02:00
parent 37e46c00bd
commit 4ef0ec75fe
1 changed files with 3 additions and 2 deletions
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mini_bdx_runtime/mini_bdx_runtime/imu.py
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@ -150,8 +150,9 @@ class Imu:
euler = R.from_quat(self.last_imu_data["orientation"]).as_euler("xyz") euler = R.from_quat(self.last_imu_data["orientation"]).as_euler("xyz")
self.last_imu_data["orientation"] = euler self.last_imu_data["orientation"] = euler
elif as_mat: elif as_mat:
mat = R.from_quat(self.last_imu_data["orientation"]).as_matrix() if self.last_imu_data["orientation"].shape != (3, 3):
self.last_imu_data["orientation"] = mat mat = R.from_quat(self.last_imu_data["orientation"]).as_matrix()
self.last_imu_data["orientation"] = mat
return self.last_imu_data return self.last_imu_data