Request for clarification on coordinate system-related issues

[le-wei]

Hello, thank you very much for the work you have done and the open-source code. I am currently studying your code. However, I have some confusion regarding the following lines in the step function of the VuerTeleop class in the teleop_hand.py file:

left_pose = np.concatenate([left_wrist_mat[:3, 3] + np.array([-0.6, 0, 1.6]),
                            rotations.quaternion_from_matrix(left_wrist_mat[:3, :3])[[1, 2, 3, 0]]])
right_pose = np.concatenate([right_wrist_mat[:3, 3] + np.array([-0.6, 0, 1.6]),
                             rotations.quaternion_from_matrix(right_wrist_mat[:3, :3])[[1, 2, 3, 0]]])

I haven't been able to understand these lines. Could you please explain their purpose? Also, why is the array [-0.6, 0, 1.6] used, and is there any reference material for the coordinate system definition (what is the reference coordinate system for the obtained left_pose)? Thank you very much for your assistance.

[chengxuxin]

Thanks. We will update the readme with a description of the coordinate transformations.