Flip gripper target.

isri-aist · Jan 8, 2025 · efd87e8 · efd87e8
1 parent 161b304
commit efd87e8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/RetargetingManagerSet.cpp b/src/RetargetingManagerSet.cpp
@@ -317,7 +317,7 @@ void RetargetingManagerSet::updateGripper()
     {
       gripperName = "r_gripper";
     }
-    ctl().robot().gripper(gripperName).setTargetOpening(leftHandJoyMsg.axes[2]);
+    ctl().robot().gripper(gripperName).setTargetOpening(1.0 - leftHandJoyMsg.axes[2]);
   }
   if(ctl().datastore().has("HRC::ViveRos::RightHandJoyMsg"))
   {
@@ -328,7 +328,7 @@ void RetargetingManagerSet::updateGripper()
     {
       gripperName = "l_gripper";
     }
-    ctl().robot().gripper(gripperName).setTargetOpening(rightHandJoyMsg.axes[2]);
+    ctl().robot().gripper(gripperName).setTargetOpening(1.0 - rightHandJoyMsg.axes[2]);
   }
 }