[fix] sim bugs.

7 months ago · a0a6de97d4
1 changed files with 1 additions and 1 deletions
--- a/teleop/robot_control/robot_hand_unitree.py
+++ b/teleop/robot_control/robot_hand_unitree.py
@ -264,7 +264,7 @@ class Dex1_1_Gripper_Controller:
        self.gripper_sub_ready = False
        self.simulation_mode = simulation_mode
        
-        if filter:
+        if filter and not self.simulation_mode:
            self.smooth_filter = WeightedMovingFilter(np.array([0.5, 0.3, 0.2]), 2)
        else:
            self.smooth_filter = None