left:
  type: vector
  urdf_path: inspire_hand/inspire_hand_left.urdf
  wrist_link_name: "L_hand_base_link"

  # Target refers to the retargeting target, which is the robot hand
  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' ]
  target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link"]
  target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
  scaling_factor: 1.20

  # Source refers to the retargeting input, which usually corresponds to the human hand
  # The joint indices of human hand joint which corresponds to each link in the target_link_names
  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]

  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
  low_pass_alpha: 0.2

right:
  type: vector
  urdf_path: inspire_hand/inspire_hand_right.urdf
  wrist_link_name: "R_hand_base_link"

  # Target refers to the retargeting target, which is the robot hand
  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' ]
  target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link"]
  target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
  scaling_factor: 1.20

  # Source refers to the retargeting input, which usually corresponds to the human hand
  # The joint indices of human hand joint which corresponds to each link in the target_link_names
  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]

  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
  low_pass_alpha: 0.2