left:
  type: DexPilot
  urdf_path: inspire_hand/inspire_hand_left.urdf
  target_joint_names:
    [
     'L_thumb_proximal_yaw_joint',
     'L_thumb_proximal_pitch_joint',
     'L_index_proximal_joint',
     'L_middle_proximal_joint',
     'L_ring_proximal_joint',
     'L_pinky_proximal_joint'
    ]
  wrist_link_name: "L_hand_base_link"
  finger_tip_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
  target_link_human_indices: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
  scaling_factor: 1.0
  low_pass_alpha: 0.6

right:
  type: DexPilot
  urdf_path: inspire_hand/inspire_hand_right.urdf
  target_joint_names:
    [
      'R_thumb_proximal_yaw_joint',
      'R_thumb_proximal_pitch_joint',
      'R_index_proximal_joint',
      'R_middle_proximal_joint',
      'R_ring_proximal_joint',
      'R_pinky_proximal_joint'
    ]
  wrist_link_name: "R_hand_base_link"
  finger_tip_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
  target_link_human_indices: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
  scaling_factor: 1.0
  low_pass_alpha: 0.6