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35 lines
1.3 KiB
35 lines
1.3 KiB
left:
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type: DexPilot
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urdf_path: inspire_hand/inspire_hand_left.urdf
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target_joint_names:
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[
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'L_thumb_proximal_yaw_joint',
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'L_thumb_proximal_pitch_joint',
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'L_index_proximal_joint',
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'L_middle_proximal_joint',
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'L_ring_proximal_joint',
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'L_pinky_proximal_joint'
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]
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wrist_link_name: "L_hand_base_link"
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finger_tip_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
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target_link_human_indices: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24, 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 9, 9, 9, 14, 14, 19, 4, 9, 14, 19, 24]]
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scaling_factor: 1.0
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low_pass_alpha: 0.6
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right:
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type: DexPilot
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urdf_path: inspire_hand/inspire_hand_right.urdf
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target_joint_names:
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[
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'R_thumb_proximal_yaw_joint',
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'R_thumb_proximal_pitch_joint',
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'R_index_proximal_joint',
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'R_middle_proximal_joint',
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'R_ring_proximal_joint',
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'R_pinky_proximal_joint'
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]
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wrist_link_name: "R_hand_base_link"
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finger_tip_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
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target_link_human_indices: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24, 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 9, 9, 9, 14, 14, 19, 4, 9, 14, 19, 24]]
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scaling_factor: 1.0
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low_pass_alpha: 0.6
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