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aadhithya14 / Open-Teach

A Versatile Teleoperation framework for Robotic Manipulation using Meta Quest3
MIT License
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End-effector failing to rotate with hand #24

Open aliyah-smith opened 1 month ago

aliyah-smith commented 1 month ago

I have set up open teach for a single robot with a 2-finger gripper. The oculus can track the hand translation and moves the end effector accordingly; however, the end effector does not rotate when the orientation of the human hand changes. The transformation matrices are the same as in the template.py script and the resulting angular velocities seem to oscillate between positive and negative values, which leads to oscillation along the rotation axes of the gripper. Any insights on how to resolve this issue?

aadhithya14 commented 1 week ago

Interesting. Could you tell me which robot are you using? Also how is the endeffector of the gripper moving ?