diff --git a/teleop/Preprocessor.py b/teleop/Preprocessor.py
index a38be3b..3376d1d 100644
--- a/teleop/Preprocessor.py
+++ b/teleop/Preprocessor.py
@@ -8,17 +8,17 @@ from motion_utils import mat_update, fast_mat_inv
 class VuerPreprocessor:
     def __init__(self):
         self.vuer_head_mat = np.array([[1, 0, 0, 0],
-                                  [0, 1, 0, 1.5],
-                                  [0, 0, 1, -0.2],
-                                  [0, 0, 0, 1]])
+                                       [0, 1, 0, 1.5],
+                                       [0, 0, 1, -0.2],
+                                       [0, 0, 0, 1]])
         self.vuer_right_wrist_mat = np.array([[1, 0, 0, 0.5],
-                                         [0, 1, 0, 1],
-                                         [0, 0, 1, -0.5],
-                                         [0, 0, 0, 1]])
+                                              [0, 1, 0, 1],
+                                              [0, 0, 1, -0.5],
+                                              [0, 0, 0, 1]])
         self.vuer_left_wrist_mat = np.array([[1, 0, 0, -0.5],
-                                        [0, 1, 0, 1],
-                                        [0, 0, 1, -0.5],
-                                        [0, 0, 0, 1]])
+                                             [0, 1, 0, 1],
+                                             [0, 0, 1, -0.5],
+                                             [0, 0, 0, 1]])
 
     def process(self, tv):
         self.vuer_head_mat = mat_update(self.vuer_head_mat, tv.head_matrix.copy())
diff --git a/teleop/constants_vuer.py b/teleop/constants_vuer.py
index ab45e4a..7f03639 100644
--- a/teleop/constants_vuer.py
+++ b/teleop/constants_vuer.py
@@ -4,12 +4,12 @@ tip_indices = [4, 9, 14, 19, 24]
 
 hand2inspire_l_arm = np.array([[1, 0, 0, 0],
                                [0, 0, -1, 0],
-                               [1, 1, 0, 0],
+                               [0, 1, 0, 0],
                                [0, 0, 0, 1]])
 
 hand2inspire_r_arm = np.array([[1, 0, 0, 0],
                                [0, 0, 1, 0],
-                               [1, -1, 0, 0],
+                               [0, -1, 0, 0],
                                [0, 0, 0, 1]])
 
 hand2inspire_l_finger = np.array([[0, -1, 0, 0],