Regarding the possibility of replacing with other dexterous hands

[kuaile258890]

Thank you for open-sourcing this project, it is an excellent piece of work. However, it uses the LEAP dexterous hand, and I would like to know how difficult it would be to modify the code to make it compatible with other dexterous hands. For example, are there many constants in the code that are specific to the LEAP dexterous hand?

For example, how were the following lines of code derived?

        self.leap_center_offset = [0.18, 0.03, 0.0] # Since the root of the LEAP hand URDF is not at the palm's root (it is at the root of the index finger), we set an offset to correct the root location
        self.leapEndEffectorIndex = [4, 9, 14, 19] # fingertip joint index
        self.fingertip_offset = np.array([0.1, 0.0, -0.08]) # Since the root of the fingertip mesh in URDF is not at the tip (it is at the right lower part of the fingertip mesh), we set an offset to correct the fingertip location
        self.thumb_offset = np.array([0.1, 0.0, -0.06]) # Same reason for the thumb tip

Best regards.