[quickfix] fix unitree dex3 paths; delete unitree_dex3.yml

robots/unitree_hand/unitree_dex3.yml

@@ -1,59 +0,0 @@
-left:
-  type: vector
-  urdf_path: unitree_hand/unitree_dex3_left.urdf
-
-  # Target refers to the retargeting target, which is the robot hand
-  # target_joint_names:
-  target_joint_names: 
-    [
-      "left_hand_thumb_0_joint",
-      "left_hand_thumb_1_joint",
-      "left_hand_thumb_2_joint",
-      "left_hand_middle_0_joint",
-      "left_hand_middle_1_joint",
-      "left_hand_index_0_joint",
-      "left_hand_index_1_joint",
-    ]
-  wrist_link_name: None
-  target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
-  target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
-  target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
-
-  # Currently, the scaling factor for each finger is individually distinguished in the robot_hand_unitree.py file.
-  # The Unitree Dex3 has three fingers with the same specifications, so the retarget scaling factors need to be adjusted separately.
-  # The relevant code is as follows:
-  # ref_left_value[0] = ref_left_value[0] * 1.15
-  # ref_left_value[1] = ref_left_value[1] * 1.05
-  # ref_left_value[2] = ref_left_value[2] * 0.95
-  # ref_right_value[0] = ref_right_value[0] * 1.15
-  # ref_right_value[1] = ref_right_value[1] * 1.05
-  # ref_right_value[2] = ref_right_value[2] * 0.95
-  scaling_factor: 1.0
-
-  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.2
-
-right:
-  type: vector
-  urdf_path: unitree_hand/unitree_dex3_right.urdf
-
-  # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: 
-    [
-      "right_hand_thumb_0_joint",
-      "right_hand_thumb_1_joint",
-      "right_hand_thumb_2_joint",
-      "right_hand_index_0_joint",
-      "right_hand_index_1_joint",
-      "right_hand_middle_0_joint",
-      "right_hand_middle_1_joint",
-    ]
-  wrist_link_name: None
-  target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
-  target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
-  target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
-
-  scaling_factor: 1.0
-  
-  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.2