[fix] bug. issue #121

7 months ago · fc3f49d191
1 changed files with 2 additions and 2 deletions
--- a/teleop/robot_control/robot_hand_inspire.py
+++ b/teleop/robot_control/robot_hand_inspire.py
@ -68,9 +68,9 @@ class Inspire_Controller:
            hand_msg  = self.HandState_subscriber.Read()
            if hand_msg is not None:
                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
+                for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
+                    self.right_hand_state_array[idx] = hand_msg.states[id].q
            time.sleep(0.002)

    def ctrl_dual_hand(self, left_q_target, right_q_target):