diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index e466018..c0b71cf 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -640,9 +640,12 @@ if __name__ == '__main__':
                 else:
                     R_comp = np.eye(3)
 
-                # De-rotate wrist positions, then compute delta from calibration
-                left_pos_comp = R_comp @ tele_data.left_wrist_pose[:3, 3]
-                right_pos_comp = R_comp @ tele_data.right_wrist_pose[:3, 3]
+                # De-rotate wrist positions, then compute delta from calibration.
+                # The head-to-waist offset [0.15, 0, 0.45] added by tv_wrapper is a
+                # body-frame constant — strip it before de-rotation, re-add after.
+                _H2W = np.array([0.15, 0.0, 0.45])
+                left_pos_comp = R_comp @ (tele_data.left_wrist_pose[:3, 3] - _H2W) + _H2W
+                right_pos_comp = R_comp @ (tele_data.right_wrist_pose[:3, 3] - _H2W) + _H2W
                 left_delta_pos = left_pos_comp - vp_ref_left[:3, 3]
                 right_delta_pos = right_pos_comp - vp_ref_right[:3, 3]