Import the new manipulator's URDF

[Jack-XingLi]

Import the new manipulator's URDF

[yzqin]

hi @Jack-XingLi

Thanks for the kind words. Yes there are some specific considerations for the hand definition. To use dex-retargeting, we assume that the root of your hand should be consistent with some conventions.

Right hand: x->forward, z->from wrist to tip, y->pinky to thumb
Left hand: x->forward, z->from wrist to tip, y-> thumb to pinky

An visualization can be found below.

I have made some effort to ensure that all models we used in our repo, such as dex-urdf, bunny_vision_pro, and the customized robot hand design in from-one-hand-to-multiple-hand, will follow this convention. For your new hand, you may also need to rotate the urdf so that it follows the same convention.

By the way, may I ask what is the name of your humanoid robot hand?

[Jack-XingLi]

hi, @yzqin :
Thank you for your prompt reply. This hand is a prototype made in our lab, very similar to the Leaphand, except it lacks a ring finger, and the thumb has only 3 degrees of freedom. I've adjusted the base coordinate system to meet specific requirements, but it seems I haven't successfully resolved my issue. Below is how my hand looks when extended, but after redirection, the robotic hand tends to bend to 90 degrees, while my hand is extended. I suspect it's an issue with the redirection coefficient, but despite many adjustments, I haven't been able to solve the problem effectively. Do you have any suggestions? Thank you!

[Jack-XingLi]

I have solved the problem, the main reason was the URDF itself, thank you for your work!

[yzqin]

Glad to hear that you were able to resolve the problem! I apologize for not being able to provide more assistance in this case. Without a complete URDF file, it was a bit challenging for me to fully grasp the context of the issue you were experiencing.

Since the problem has been solved, I will go ahead and close this issue. If you encounter any further difficulties or have additional questions, please don't hesitate to open a new issue with more detailed information, including the relevant URDF file if possible.