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[fix] bug

main
silencht 11 months ago
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283251f823
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46494a2787
1 changed files with 1 additions and 1 deletions
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  1. 2
      teleop/robot_control/robot_hand_inspire.py

2
teleop/robot_control/robot_hand_inspire.py
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@ -108,7 +108,7 @@ class Inspire_Controller:
ref_left_value = left_hand_mat[inspire_tip_indices] ref_left_value = left_hand_mat[inspire_tip_indices]
ref_right_value = right_hand_mat[inspire_tip_indices] ref_right_value = right_hand_mat[inspire_tip_indices]
left_q_target = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[self.hand_retargeting.right_dex_retargeting_to_hardware]
left_q_target = self.hand_retargeting.left_retargeting.retarget(ref_left_value)[self.hand_retargeting.left_dex_retargeting_to_hardware]
right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[self.hand_retargeting.right_dex_retargeting_to_hardware] right_q_target = self.hand_retargeting.right_retargeting.retarget(ref_right_value)[self.hand_retargeting.right_dex_retargeting_to_hardware]
# In website https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand, you can find # In website https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand, you can find

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