vikashplus
Modify Adroit left hand Mujoco model
Hello, I try to modify the Adroit right hand model to left one. Appended files are the current progress wrt relocate scenario. The following parts are things I have adjusted:
@DAPG_assets_left.xml
1)mesh scale="-0.001 0.001 0.001" for "wrist","palm","lfmetacarpal", "knuckle", "F3", "F2", "F1", "TH3_z", "TH2_z", "TH1_z"
@DAPG_Adroit_left.xml
2)body pos x to -x for "ffknuckle", "mfknuckle", "rfknuckle", "thbase"
3)body quat ="7.35709949e-04 -3.82683311e-01 3.04741039e-04 9.23879240e-01" for "thbase"
4)joint axis invertion for "WRJ1", "FFJ3", "MFJ3", "RFJ3", "LFJ4", "LFJ3", "THJ4", "THJ3"
5)body pos ="0.05 0 0.044" for "lfmetacarpal"
6)joint pos="-0.033 0 0" for "LFJ4"
@DAPG_relocate_left.xml
7) <body pos="-0.033 -0.7 0.2" for "forearm"
For "lfmetacarpal" body pos x adjustment, it seems not following rule in 2). Thus by trial-and-error I found out 5) visually looks ok... Consequently 6) and 7) are needed for compensation... Actually I don't think this way is resonable.. could you correct it for me?
Also, are there other parts/files that need modification as well? For example, geom pose? site pose?
Thank you for the help in advance.
DAPG_Adroit_left.xml.txt DAPG_assets_left.xml.txt DAPG_relocate_left.xml.txt
