[fix] fix typo in robot wrapper

dexsuite · Jun 20, 2024 · 538cdd7 · 538cdd7
1 parent 5424adc
commit 538cdd7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/dex_retargeting/robot_wrapper.py b/dex_retargeting/robot_wrapper.py
@@ -72,7 +72,7 @@ def get_link_pose(self, link_id: int) -> npt.NDArray:
 
     def get_link_pose_inv(self, link_id: int) -> npt.NDArray:
         pose: pin.SE3 = pin.updateFramePlacement(self.model, self.data, link_id)
-        return pose.inverse().homegeneous
+        return pose.inverse().homogeneous
 
     def compute_single_link_local_jacobian(self, qpos, link_id: int) -> npt.NDArray:
         J = pin.computeFrameJacobian(self.model, self.data, qpos, link_id)