About the yumi_with_hands.urdf

[jiuriH]

Hello, I had the same problem as #2 when I was training yumi with hands. I also used yumi_with_hands.urdf, which is from yumi-gym. Obviously there are no joints_name of Link1111, Link2222, Link3333, Link4444, Link5555(as definition in https://github.com/0aqz0/neural-retargeting/blob/main/dataset.py#L51).

Additionally, the urdf you provided in #2 does not contain InspireHand. Could you show the urdf you used for training that contains both InspireHand and Yumi?

If possible, hoping to communicate more with you. I am a student from USTC,China. My email is [email protected] and my Wechat is hxj2601. Looking forward to your reply!