Documents for retargeting customized humanoids

[RavenLeeANU]

Dear team,

Thank you for your great work, it works perfectly on unitree G1! When I switch to a different robot, it is supposed to fill the params (weights, offset etc) in the config files. Could it be possible to have a tutorial for the users to create best practice configs for any other type robots?

Cheers! :)

[Luo1imasi]

Hi there, thanks for the great project! I wrote a script optimize_scaler_config.py automatically optimize the configuration for custom robots. It helped me adapt the retargeter to my robot, I'm sharing it here in case it's helpful to others.

[oldio]

Thanks for the input, @RavenLeeANU! We're actively working on expanding support for additional robot configurations. As noted in the README, this project is still under active development and the API remains unstable (breaking changes should be expected). Once things have stabilized, we’ll make sure to publish documentation for this feature.