# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

retargeting:
  finger_tip_link_names:
  - thumb_tip
  - index_tip
  - middle_tip
  low_pass_alpha: 0.2
  scaling_factor: 1.0
  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
  type: DexPilot
  urdf_path: /tmp/G1_left_hand.urdf
  wrist_link_name: base_link
