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This commit is contained in:
Martino Russi
2025-11-21 14:13:05 +01:00
parent e5cae6be64
commit 9a052566a3
326 changed files with 20122 additions and 15 deletions
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eval_robot/assets/inspire_hand/inspire_hand.yml
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left:
type: DexPilot # or vector
urdf_path: inspire_hand/inspire_hand_left.urdf
# Target refers to the retargeting target, which is the robot hand
target_joint_names:
[
'L_thumb_proximal_yaw_joint',
'L_thumb_proximal_pitch_joint',
'L_index_proximal_joint',
'L_middle_proximal_joint',
'L_ring_proximal_joint',
'L_pinky_proximal_joint'
]
# for DexPilot type
wrist_link_name: "L_hand_base_link"
finger_tip_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_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: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link"]
target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_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: 1.20
# 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: inspire_hand/inspire_hand_right.urdf
# Target refers to the retargeting target, which is the robot hand
target_joint_names:
[
'R_thumb_proximal_yaw_joint',
'R_thumb_proximal_pitch_joint',
'R_index_proximal_joint',
'R_middle_proximal_joint',
'R_ring_proximal_joint',
'R_pinky_proximal_joint'
]
# for DexPilot type
wrist_link_name: "R_hand_base_link"
finger_tip_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
# If you do not know exactly how it is used, please leave it to None for
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]]
target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link"]
target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_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: 1.20
# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
low_pass_alpha: 0.2