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Fix joints translation

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This commit is contained in:
Simon Alibert
2025-05-22 11:20:38 +02:00
parent 0f34b4b1bd
commit 5504b5aee2
1 changed files with 4 additions and 4 deletions
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8
lerobot/common/robots/hope_jr/joints_translation.py
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@@ -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( "index_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["index_mcp_flexion.pos"], glove_action["index_mcp_abduction.pos"], INDEX_SPLAY 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( "middle_radial_flexor.pos": get_radial_flexion(
glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY
), ),
"middle_ulnar_flexor.pos": get_ulnar_flexion( "middle_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["middle_mcp_flexion.pos"], glove_action["middle_mcp_abduction.pos"], MIDDLE_SPLAY 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( "ring_radial_flexor.pos": get_radial_flexion(
glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY
), ),
"ring_ulnar_flexor.pos": get_ulnar_flexion( "ring_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["ring_mcp_flexion.pos"], glove_action["ring_mcp_abduction.pos"], RING_SPLAY 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( "pinky_radial_flexor.pos": get_radial_flexion(
glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY
), ),
"pinky_ulnar_flexor.pos": get_ulnar_flexion( "pinky_ulnar_flexor.pos": get_ulnar_flexion(
glove_action["pinky_mcp_flexion.pos"], glove_action["pinky_mcp_abduction.pos"], PINKY_SPLAY 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"],
} }