Figure Dip Bending Problem

I noticed that when I fully stretch my hand (i.e., all joint angles are at 0), the retargeted values still cause the DIP joints to bend to around 90 degrees. Since the FK model seems correct, I suspect there's something in the retargeting network training that's preventing the robot hand from achieving a fully stretched pose.

The following is running on the allegro model in this repo, it is still OK (In this case I didn't use your PID controller and directly map the retarget joints to the robot model (no feedback control used)). But you still can see the DIP joints are still tricky

https://github.com/user-attachments/assets/4e0c9e1b-14c9-425e-844e-9bd1ccd30f2f

I am curious if this can be resolved because I have tuned a lot of hyper parameters but that doesn't seem to work