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63 lines
2.3 KiB
63 lines
2.3 KiB
left:
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type: DexPilot # or 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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[
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"left_hand_thumb_0_joint",
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"left_hand_thumb_1_joint",
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"left_hand_thumb_2_joint",
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"left_hand_middle_0_joint",
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"left_hand_middle_1_joint",
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"left_hand_index_0_joint",
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"left_hand_index_1_joint",
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]
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# for DexPilot type
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wrist_link_name: "base_link"
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finger_tip_link_names: [ "thumb_tip", "index_tip", "middle_tip"]
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# If you do not know exactly how it is used, please leave it to None for default.
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target_link_human_indices_dexpilot: [[ 9, 14, 14, 0, 0, 0], [ 4, 4, 9, 4, 9, 14]]
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# for vector type
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target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
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target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
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target_link_human_indices_vector: [[0, 0, 0], [4, 9, 14]]
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# Scaling factor for vector retargeting only
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# For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
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scaling_factor: 1.0
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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: DexPilot # or 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_thumb_0_joint",
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"right_hand_thumb_1_joint",
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"right_hand_thumb_2_joint",
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"right_hand_index_0_joint",
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"right_hand_index_1_joint",
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"right_hand_middle_0_joint",
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"right_hand_middle_1_joint",
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]
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# for DexPilot type
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wrist_link_name: "base_link"
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finger_tip_link_names: [ "thumb_tip", "index_tip", "middle_tip"]
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target_link_human_indices_dexpilot: [[ 9, 14, 14, 0, 0, 0], [ 4, 4, 9, 4, 9, 14]]
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# for vector type
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target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
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target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
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target_link_human_indices_vector: [[0, 0, 0], [4, 9, 14]]
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# Scaling factor for vector retargeting only
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# For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
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scaling_factor: 1.0
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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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