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configuration.md

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Configuration

Directory Layout

configs/retargeting/
├── base/       ← reusable model-level constraint definitions
├── left/       ← left-hand runtime configs
├── right/      ← right-hand runtime configs
└── bihand/     ← bi-hand viewer/replay configs

CLI defaults:

Mode Default config
Single hand configs/retargeting/right/linkerhand_l20_right.yaml
Bi-hand configs/retargeting/bihand/linkerhand_l20_bihand.yaml

Single-Hand Config

Typical runtime configs are thin wrappers around a base config:

extends: "../base/linkerhand_l20.yaml"

hand:
  name: "linkerhand_l20_right"
  side: "right"
  mjcf_path: "../../../assets/mjcf/linkerhand_l20_right/model.xml"

The loader resolves relative paths from the config file location and supports chained extends.

Main Sections

hand — model identity

Field Description
name Model identifier
side left or right
mjcf_path Path to the MJCF model file
urdf_source (optional) Source URDF metadata

controller — backend defaults

Field Description
backend viewer, sim, or real
model_family Hardware model family for real backend
control_rate_hz Control loop frequency
sim_rate_hz Simulation frequency
transport Communication transport
can_interface CAN bus interface
modbus_port Modbus serial port
sdk_root Path to LinkerHand SDK
default_speed / default_torque Hardware defaults

retargeting — retargeting behavior

Pattern When to use
preset: universal Default universal constraint preset
Explicit vector_constraints, frame_constraints, distance_constraints, angle_constraints Custom models
vector_loss, preprocess, solver Tuning solver behavior

Bi-Hand Config

Bi-hand configs are separate and compose a left + right config pair:

left:
  config: "../left/linkerhand_l20_left.yaml"

right:
  config: "../right/linkerhand_l20_right.yaml"

Also supports a viewer section for panel size, camera placement, and per-hand pose.

Schema Notes

  • retargeting.preset only accepts universal when set
  • Removed: human_vector_pairs, origin_link_names, task_link_names, vector_weights (legacy vector schema)
  • Rejected: position_constraints, pinch (removed sections)
  • Runtime validation checks backend names, transport names, and positive control/sim rates

Which File to Edit?

Goal Edit
Change reusable model-level constraints base/
Bind a runtime side to a specific asset path left/ or right/
Change bi-hand viewer/replay behavior bihand/