fix visualize

rerun_visualize.py

@@ -11,11 +11,11 @@ class RerunURDF():
             case 'g1':
                 self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/g1/g1_29dof_rev_1_0.urdf', 'robot_description/g1', pin.JointModelFreeFlyer())
                 self.Tpose = np.array([0,0,0.785,0,0,0,1,
-                                      -0.15,0,0,0.3,-0.15,0,
-                                      -0.15,0,0,0.3,-0.15,0,
-                                      0,0,0,
-                                      0, 1.57,0,1.57,0,0,0,
-                                      0,-1.57,0,1.57,0,0,0]).astype(np.float32)
+                                       -0.15,0,0,0.3,-0.15,0,
+                                       -0.15,0,0,0.3,-0.15,0,
+                                       0,0,0,
+                                       0, 1.57,0,1.57,0,0,0,
+                                       0,-1.57,0,1.57,0,0,0]).astype(np.float32)
             case 'h1_2':
                 self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/h1_2/h1_2_wo_hand.urdf', 'robot_description/h1_2', pin.JointModelFreeFlyer())
                 assert self.robot.model.nq == 7 + 12+1+14
@@ -111,14 +111,11 @@ if __name__ == "__main__":
 
     file_name = args.file_name
     robot_type = args.robot_type
-    rerun_urdf = RerunURDF(robot_type)
-
     csv_files = robot_type + '/' + file_name + '.csv'
     data = np.genfromtxt(csv_files, delimiter=',')
 
+    rerun_urdf = RerunURDF(robot_type)
     for frame_nr in range(data.shape[0]):
         rr.set_time_sequence('frame_nr', frame_nr)
-        
-        for rt in ['g1', 'h1_2', 'h1']:
-            configuration = data[frame_nr, :]
-            rerun_urdf.update(configuration)
+        configuration = data[frame_nr, :]
+        rerun_urdf.update(configuration)