Adapting to a Custom Dexterous Hand (DexHand)

[ChenZhongxi-sjtu]

I am looking to reproduce the results on a DexHand (12 DoF). To achieve this, do I only need to configure the joint mapping? Is the rest of the pipeline identical to the implementation for XHand?

[arnoldland]

Yes, the main difference lies in the finger mapping approach. In addition, you may need to follow the 3. Fine-tuning with a Custom Robot Dataset tutorial in readme.md to align the coordinate system representation and the dataset.

[ChenZhongxi-sjtu]

I am working on a multi-camera system. When performing extrinsic calibration for multiple camera views, which camera coordinate system is typically recommended to be used as the primary reference (the world frame)?

[arnoldland]

It is generally reasonable to use the egocentric (head-mounted) camera as the primary reference, as it is most closely aligned with the perspective of egocentric videos.