Left and Right Hand URDF

j96w / DexCap

[RSS 2024] "DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation" code repository

MIT License

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Left and Right Hand URDF #8

Open QingkaiLu opened 1 week ago

QingkaiLu commented 1 week ago

Hi Chen,

Could you please let me know why do you use the same right hand URDF for both the left and right hand re-targeting?

Thank you!

-Qingkai

j96w commented 4 days ago

Hi, there's no specific reason. We just find it more straightforward to flip the left hand fingertip location and use the same right hand IK script for retargeting to the Leap hand.