| type: vector | |
| urdf_path: inspire_hand_right.urdf | |
| wrist_link_name: "R_hand_base_link" | |
| # Target refers to the retargeting target, which is the robot hand | |
| target_joint_names: null | |
| 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" ] | |
| scaling_factor: 1.1 | |
| # Source refers to the retargeting input, which usually corresponds to the human hand | |
| # The joint indices of human hand joint which corresponds to each link in the target_link_names | |
| target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ] | |
| # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency | |
| low_pass_alpha: 0.5 | |
| # ignore_mimic_joint: True | |