robots/unitree_hand/unitree_dex3.yml

left:
  type: vector
  urdf_path: unitree_hand/unitree_dex3_left.urdf

  # Target refers to the retargeting target, which is the robot hand
  # target_joint_names:
  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",
    ]
  wrist_link_name: None
  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: [[0, 0, 0], [4, 9, 14]]

  # Currently, the scaling factor for each finger is individually distinguished in the robot_hand_unitree.py file.
  # The Unitree Dex3 has three fingers with the same specifications, so the retarget scaling factors need to be adjusted separately.
  # The relevant code is as follows:
  # ref_left_value[0] = ref_left_value[0] * 1.15
  # ref_left_value[1] = ref_left_value[1] * 1.05
  # ref_left_value[2] = ref_left_value[2] * 0.95
  # ref_right_value[0] = ref_right_value[0] * 1.15
  # ref_right_value[1] = ref_right_value[1] * 1.05
  # ref_right_value[2] = ref_right_value[2] * 0.95
  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: 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",
    ]
  wrist_link_name: None
  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: [[0, 0, 0], [4, 9, 14]]

  scaling_factor: 1.0
  
  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
  low_pass_alpha: 0.2