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[fix] bug. issue #121

main
silencht 7 months ago
parent
c12cf6a1a9
commit
fc3f49d191
1 changed files with 2 additions and 2 deletions
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  1. 4
      teleop/robot_control/robot_hand_inspire.py

4
teleop/robot_control/robot_hand_inspire.py
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@ -68,9 +68,9 @@ class Inspire_Controller:
hand_msg = self.HandState_subscriber.Read() hand_msg = self.HandState_subscriber.Read()
if hand_msg is not None: if hand_msg is not None:
for idx, id in enumerate(Inspire_Left_Hand_JointIndex): for idx, id in enumerate(Inspire_Left_Hand_JointIndex):
self.right_hand_state_array[idx] = hand_msg.states[id].q
for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
self.left_hand_state_array[idx] = hand_msg.states[id].q self.left_hand_state_array[idx] = hand_msg.states[id].q
for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
self.right_hand_state_array[idx] = hand_msg.states[id].q
time.sleep(0.002) time.sleep(0.002)
def ctrl_dual_hand(self, left_q_target, right_q_target): def ctrl_dual_hand(self, left_q_target, right_q_target):

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