dex-retargeting steps to add a custom hand

Nice work! Would to please share the steps about how to add a custom hand and perform retargeting? Thanks!

Dec 03 '24 02:12 zhongxiangzju

@zhongxiangzju

Creating a config file for a new robot hand is not so hard, but the tricky thing is that you need a hand and with good quality. Which hand do you want to add? Do you have a link to the manufacture provided urdf?

Dec 03 '24 18:12 yzqin

@yzqin Thanks for quick reply! I have added urdf of the custom dexterous gripper and run position retargeting. The results seem reasonable but with serious piercing problems.

Any suggestions to improve the results? Thanks.

Dec 04 '24 09:12 zhongxiangzju

And could you please introduce the difference between position retargeting and vector retargeting?

Dec 04 '24 13:12 zhongxiangzju

To put it simply, vector/DexPilot retargeting is mainly for teleoperation while position retargeting is for retargeting from offline data

Dec 05 '24 05:12 yzqin

To alleviate the penetration, you can try to modify the retargeting config and add more position on the robot hand

Dec 05 '24 05:12 yzqin

@zhongxiangzju Hi bro, how to create a config file on custom hand ? Thank you~

Dec 07 '24 01:12 1024AILab