Question about writing the config.yaml file in a custom robot #20
Description
hello,
In the arm section of bone_mapping, do I need to use a wrist joint? In my custom robot model, I didn't create a wrist, so I replaced wrist_yaw_link with elbow_yaw_link since they achieve the same effect. After the replacement, both shape_adaptation and motion_adaptation functioned normally, but the joints were not mapped correctly in the visualization results. Could you please provide more details about bone_mapping and keypoints?
In my custom robot:
000037.webm
000058.webm
In your example robot:
000037_g1.webm
000058_g1.webm
Additionally, I noticed that you used 23 joints in the dof initialization definition. I set 25 for my robot, could this also be a potential cause of mapping confusion?