left:
  type: DexPilot # or vector
  urdf_path: brainco_hand/brainco_left.urdf

  # Target refers to the retargeting target, which is the robot hand
  target_joint_names: 
    [
      "left_thumb_metacarpal_joint",
      "left_thumb_proximal_joint",
      "left_index_proximal_joint",
      "left_middle_proximal_joint",
      "left_ring_proximal_joint",
      "left_pinky_proximal_joint",
    ]

  # for DexPilot type
  wrist_link_name: "base_link"
  finger_tip_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
  # If you do not know exactly how it is used, please leave it to None for default.
  target_link_human_indices_dexpilot: [[ 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]]

  # for vector type
  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
  target_task_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]

  # Scaling factor for vector retargeting only
  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
  scaling_factor: 1.00
  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
  low_pass_alpha: 0.2

right:
  type: DexPilot # or vector
  urdf_path: brainco_hand/brainco_right.urdf

  # Target refers to the retargeting target, which is the robot hand
  target_joint_names: 
    [
      "right_thumb_metacarpal_joint",
      "right_thumb_proximal_joint",
      "right_index_proximal_joint",
      "right_middle_proximal_joint",
      "right_ring_proximal_joint",
      "right_pinky_proximal_joint",
    ]
  # for DexPilot type
  wrist_link_name: "base_link"
  finger_tip_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
  target_link_human_indices_dexpilot: [[ 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]]
  
  # for vector type
  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
  target_task_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]

  # Scaling factor for vector retargeting only
  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
  scaling_factor: 1.00
  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
  low_pass_alpha: 0.2