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48 lines
1.5 KiB
48 lines
1.5 KiB
left:
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type: vector
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urdf_path: unitree_hand/unitree_dex3_left.urdf
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# Target refers to the retargeting target, which is the robot hand
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# target_joint_names:
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target_joint_names:
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[
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"left_hand_zero_joint",
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"left_hand_one_joint",
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"left_hand_two_joint",
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"left_hand_three_joint",
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"left_hand_four_joint",
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"left_hand_five_joint",
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"left_hand_six_joint",
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]
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wrist_link_name: None
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target_origin_link_names: ["base_link_thumb","base_link","base_link"]
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target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
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target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
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scaling_factor: 1.4
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# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
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low_pass_alpha: 0.2
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right:
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type: vector
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urdf_path: unitree_hand/unitree_dex3_right.urdf
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# Target refers to the retargeting target, which is the robot hand
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target_joint_names:
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[
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"right_hand_zero_joint",
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"right_hand_one_joint",
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"right_hand_two_joint",
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"right_hand_three_joint",
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"right_hand_four_joint",
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"right_hand_five_joint",
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"right_hand_six_joint",
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]
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wrist_link_name: None
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target_origin_link_names: ["base_link_thumb","base_link","base_link"]
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target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
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target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
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scaling_factor: 1.4
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# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
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low_pass_alpha: 0.2
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