From 5504b5aee252ae6cd279a1713dab9b8074ddceb3 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Thu, 22 May 2025 11:20:38 +0200 Subject: [PATCH] Fix joints translation --- lerobot/common/robots/hope_jr/joints_translation.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/lerobot/common/robots/hope_jr/joints_translation.py b/lerobot/common/robots/hope_jr/joints_translation.py index 5e0eac76..c70a928c 100644 --- a/lerobot/common/robots/hope_jr/joints_translation.py +++ b/lerobot/common/robots/hope_jr/joints_translation.py @@ -24,26 +24,26 @@ def homonculus_glove_to_hope_jr_hand(glove_action: dict[str, float]) -> dict[str "index_ulnar_flexor.pos": get_ulnar_flexion( glove_action["index_mcp_flexion.pos"], glove_action["index_mcp_abduction.pos"], INDEX_SPLAY ), - "index_pip_dip.pos": glove_action["index_pip_dip.pos"], + "index_pip_dip.pos": glove_action["index_dip.pos"], "middle_radial_flexor.pos": get_radial_flexion( glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY ), "middle_ulnar_flexor.pos": get_ulnar_flexion( glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY ), - "middle_pip_dip.pos": glove_action["middle_pip_dip.pos"], + "middle_pip_dip.pos": glove_action["middle_dip.pos"], "ring_radial_flexor.pos": get_radial_flexion( glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY ), "ring_ulnar_flexor.pos": get_ulnar_flexion( glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY ), - "ring_pip_dip.pos": glove_action["ring_pip_dip.pos"], + "ring_pip_dip.pos": glove_action["ring_dip.pos"], "pinky_radial_flexor.pos": get_radial_flexion( glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY ), "pinky_ulnar_flexor.pos": get_ulnar_flexion( glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY ), - "pinky_pip_dip.pos": glove_action["pinky_pip_dip.pos"], + "pinky_pip_dip.pos": glove_action["pinky_dip.pos"], }