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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/unitree_hand/unitree_dex3.yml
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left:
type: DexPilot # or vector
urdf_path: unitree_hand/unitree_dex3_left.urdf
# Target refers to the retargeting target, which is the robot hand
target_joint_names:
[
"left_hand_thumb_0_joint",
"left_hand_thumb_1_joint",
"left_hand_thumb_2_joint",
"left_hand_middle_0_joint",
"left_hand_middle_1_joint",
"left_hand_index_0_joint",
"left_hand_index_1_joint",
]
# for DexPilot type
wrist_link_name: "base_link"
finger_tip_link_names: [ "thumb_tip", "index_tip", "middle_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, 14, 0, 0, 0], [ 4, 4, 9, 4, 9, 14]]
# for vector type
target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
target_link_human_indices_vector: [[0, 0, 0], [4, 9, 14]]
# 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: 1.0
# 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: unitree_hand/unitree_dex3_right.urdf
# Target refers to the retargeting target, which is the robot hand
target_joint_names:
[
"right_hand_thumb_0_joint",
"right_hand_thumb_1_joint",
"right_hand_thumb_2_joint",
"right_hand_index_0_joint",
"right_hand_index_1_joint",
"right_hand_middle_0_joint",
"right_hand_middle_1_joint",
]
# for DexPilot type
wrist_link_name: "base_link"
finger_tip_link_names: [ "thumb_tip", "index_tip", "middle_tip"]
target_link_human_indices_dexpilot: [[ 9, 14, 14, 0, 0, 0], [ 4, 4, 9, 4, 9, 14]]
# for vector type
target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
target_link_human_indices_vector: [[0, 0, 0], [4, 9, 14]]
# 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: 1.0
# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
low_pass_alpha: 0.2