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35 lines
1.6 KiB
35 lines
1.6 KiB
left:
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type: vector
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urdf_path: inspire_hand/inspire_hand_left.urdf
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wrist_link_name: "L_hand_base_link"
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# Target refers to the retargeting target, which is the robot hand
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target_joint_names: null
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target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
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target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
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scaling_factor: 1.5
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# Source refers to the retargeting input, which usually corresponds to the human hand
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# The joint indices of human hand joint which corresponds to each link in the target_link_names
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target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
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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: 0.8
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right:
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type: vector
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urdf_path: inspire_hand/inspire_hand_right.urdf
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wrist_link_name: "R_hand_base_link"
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# Target refers to the retargeting target, which is the robot hand
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target_joint_names: null
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target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
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target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
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scaling_factor: 1.5
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# Source refers to the retargeting input, which usually corresponds to the human hand
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# The joint indices of human hand joint which corresponds to each link in the target_link_names
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target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
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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: 0.8
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