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the dof of inspire hand is 6, but the variable left_qpos is 12 #38
Description
thanks for your amazing work!
left_qpos = self.left_retargeting.retarget(left_hand_mat[tip_indices])
the left_qpos after retageting is a [12,] array,but the dof of inspire hand is 6.
how to control the inspire hand with variable left_qpos
Activity
chaitanya1chawla commentedon Jul 22, 2025
All fingers (except the thumb) have two joints, and the intermediary joint mimics the proximal joint thorugh tendons.
On the other hand, the thumb's yaw and pitch are motor driven, however the intermediate and distal mimic the pitch joint through tendons.
Thus, 12 qpos but dof is only 6.