From bd0c696439e616cd998fbd537bdafd4ecd2547bb Mon Sep 17 00:00:00 2001 From: silencht Date: Thu, 29 Aug 2024 21:01:43 +0800 Subject: [PATCH] [fix] delete h1 related code. --- teleop/teleop_hand_and_arm.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index 205d5bc..293f64a 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/teleop/teleop_hand_and_arm.py @@ -108,10 +108,6 @@ class VuerTeleop: left_wrist_mat[0, 3] +=0.20 right_wrist_mat[0,3] +=0.20 - # for h1(4 Dof arm), we only use xyz (excluding rotation) to tracking. So the rotation matrix should be filled with identity matrix. - left_wrist_mat[:3, :3] = np.eye(3) - right_wrist_mat[:3, :3] = np.eye(3) - left_qpos = self.left_retargeting.retarget(left_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]] right_qpos = self.right_retargeting.retarget(right_hand_mat[tip_indices])[[4, 5, 6, 7, 10, 11, 8, 9, 0, 1, 2, 3]]