teleop-joint-mapper

Maps DexCap joints to robot joints.

Access Required

This package requires private repository access.

Repository: teleop-joint-mapper (private)

Purpose

Translates DexCap glove joint angles to robot-specific joint commands:

  • Joint remapping

  • Scaling and limits

  • Smooth trajectory generation (ruckig)

Supported Mappings

Source

Target Robot

DexCap

Tianji M6

DexCap

Other arms (configurable)

Usage

ros2 launch teleop_joint_mapper mapper.launch.py robot:=tianji_m6

Topics

Subscribed

Topic

Type

Description

/dexcap/joint_states

JointState

Glove input

Published

Topic

Type

Description

/target_joint_positions

JointState

Robot targets

Configuration

teleop_joint_mapper:
  ros__parameters:
    source: dexcap
    target: tianji_m6
    
    joint_mapping:
      dexcap_thumb_mcp: robot_thumb_base
      dexcap_thumb_pip: robot_thumb_proximal
      # ... more mappings
    
    scale_factors:
      thumb: 1.0
      index: 1.0
      # ...

Trajectory Smoothing

Uses ruckig for smooth trajectories:

  • Velocity limits

  • Acceleration limits

  • Jerk limits