def warm_start(
        self,
        wrist_pos: np.ndarray,
        wrist_quat: np.ndarray,
        hand_type: HandType = HandType.right,
        is_mano_convention: bool = False,
    ):
        """
        Initialize the wrist joint pose using analytical computation instead of retargeting optimization.
        This function is specifically for position retargeting with the flying robot hand, i.e. has 6D free joint
        You are not expected to use this function for vector retargeting, e.g. when you are working on teleoperation

        Args:
            wrist_pos: position of the hand wrist, typically from human hand pose
            wrist_quat: quaternion of the hand wrist, the same convention as the operator frame definition if not is_mano_convention
            hand_type: hand type, used to determine the operator2mano matrix
            is_mano_convention: whether the wrist_quat is in mano convention
        """
        # This function can only be used when the first joints of robot are free joints

        if len(wrist_pos) != 3:
            raise ValueError(f"Wrist pos: {wrist_pos} is not a 3-dim vector.")
        if len(wrist_quat) != 4:
            raise ValueError(f"Wrist quat: {wrist_quat} is not a 4-dim vector.")

        operator2mano = OPERATOR2MANO[hand_type] if is_mano_convention else np.eye(3)
        robot = self.optimizer.robot
        target_wrist_pose = np.eye(4)
        target_wrist_pose[:3, :3] = rotations.matrix_from_quaternion(wrist_quat) @ operator2mano.T
        target_wrist_pose[:3, 3] = wrist_pos

        name_list = [
            "dummy_x_translation_joint",
            "dummy_y_translation_joint",
            "dummy_z_translation_joint",
            "dummy_x_rotation_joint",
            "dummy_y_rotation_joint",
            "dummy_z_rotation_joint",
        ]
        wrist_link_id = robot.get_joint_parent_child_frames(name_list[5])[1]

        # Set the dummy joints angles to zero
        old_qpos = robot.q0
        new_qpos = old_qpos.copy()
        for num, joint_name in enumerate(self.optimizer.target_joint_names):
            if joint_name in name_list:
                new_qpos[num] = 0

        robot.compute_forward_kinematics(new_qpos)
        root2wrist = robot.get_link_pose_inv(wrist_link_id)
        target_root_pose = target_wrist_pose @ root2wrist

        euler = rotations.euler_from_matrix(target_root_pose[:3, :3], 0, 1, 2, extrinsic=False)
        pose_vec = np.concatenate([target_root_pose[:3, 3], euler])

        # Find the dummy joints
        for num, joint_name in enumerate(self.optimizer.target_joint_names):
            if joint_name in name_list:
                index = name_list.index(joint_name)
                self.last_qpos[num] = pose_vec[index]

        self.is_warm_started = True

        Initialize the wrist joint pose using analytical computation instead of retargeting optimization.
        This function is specifically for position retargeting with the flying robot hand, i.e. has 6D free joint
        You are not expected to use this function for vector retargeting, e.g. when you are working on teleoperation

        Args:
            wrist_pos: position of the hand wrist, typically from human hand pose
            wrist_quat: quaternion of the hand wrist, the same convention as the operator frame definition if not is_mano_convention
            hand_type: hand type, used to determine the operator2mano matrix
            is_mano_convention: whether the wrist_quat is in mano convention
        
deploy/teleop/robot_control/dex_retargeting/seq_retarget.py