PSM move in opposite direction when use MTM as input device and

[Xuegegeupupup]

Dear friend:

I have some question about running this simulation. I would appreciate it if you could do me a favour!

After running the file run_env_SIMPLE_LND_420006.sh and the mtm_psm_pair_teleop_420006.sh in the teleoperation folder,

There are two problems

1 The direction of movement of mtm is opposite to the direction of movement of psm in ambf (mtm goes left, psm end goes right, etc.). The move pattern if different from the real PSM in DVRK system. Do I need to change relevant code?

2 After running mtm_psm_pair_teleop_420006.sh, when clicking the Home button in the dvrk console, mtm will fall due to its own gravity and drive psm in ambf to move as well. How to avoid

Thank you very much!!