Add LinkerHand O6 for dexpilot retargeting #82
Description
Thanks for your excellent work! I'm trying to import a custom hand (https://github.com/linker-bot/linkerhand-urdf/tree/main/o6). I manually create tip joints and create a config file as below:
left:
type: DexPilot
urdf_path: linker_o6/left/linkerhand_o6_left.urdf
target_joint_names:
- thumb_cmc_yaw
- thumb_cmc_pitch
- index_mcp_pitch
- middle_mcp_pitch
- ring_mcp_pitch
- pinky_mcp_pitch
wrist_link_name: "hand_base_link"
finger_tip_link_names:
- thumb_tip
- index_tip
- middle_tip
- ring_tip
- pinky_tip
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:
- hand_base_link
- hand_base_link
- hand_base_link
- hand_base_link
- hand_base_link
target_task_link_names:
- thumb_tip
- index_tip
- middle_tip
- ring_tip
- pinky_tip
target_link_human_indices_vector:
- [0, 0, 0, 0, 0]
- [4, 9, 14, 19, 24]
scaling_factor: 1.0
low_pass_alpha: 0.0
I verified the created tip joints(the red area), but the hand control doesn't seem to be as expected. Could you give me some advice to further debug?
