From 538cdd7b656a5229f6c25ccc9b49afcac01dd78f Mon Sep 17 00:00:00 2001 From: Yuzhe Qin Date: Thu, 20 Jun 2024 13:11:06 +0800 Subject: [PATCH] [fix] fix typo in robot wrapper --- dex_retargeting/robot_wrapper.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dex_retargeting/robot_wrapper.py b/dex_retargeting/robot_wrapper.py index 46548af..81ec318 100644 --- 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)