[update] update config for locked dexpilot retargeting

dexsuite · May 23, 2024 · 3567c98 · 3567c98
1 parent 52d22a4
commit 3567c98
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Showing 4 changed files with 13 additions and 3 deletions.
diff --git a/dex_retargeting/__init__.py b/dex_retargeting/__init__.py
@@ -1 +1 @@
-__version__ = "0.3.1"
+__version__ = "0.3.2"
diff --git a/dex_retargeting/optimizer.py b/dex_retargeting/optimizer.py
@@ -307,6 +307,7 @@ def __init__(
         target_joint_names: List[str],
         finger_tip_link_names: List[str],
         wrist_link_name: str,
+        target_link_human_indices: Optional[np.ndarray] = None,
         huber_delta=0.03,
         norm_delta=4e-3,
         # DexPilot parameters
@@ -329,7 +330,8 @@ def __init__(
             task_link_index = [1, 1, 1, 1, 2, 2, 2, 3, 3, 4, 1, 2, 3, 4, 5]
             self.num_fingers = 5
 
-        target_link_human_indices = (np.stack([origin_link_index, task_link_index], axis=0) * 4).astype(int)
+        if target_link_human_indices is None:
+            target_link_human_indices = (np.stack([origin_link_index, task_link_index], axis=0) * 4).astype(int)
         link_names = [wrist_link_name] + finger_tip_link_names
         target_origin_link_names = [link_names[index] for index in origin_link_index]
         target_task_link_names = [link_names[index] for index in task_link_index]

diff --git a/dex_retargeting/retargeting_config.py b/dex_retargeting/retargeting_config.py
@@ -90,6 +90,13 @@ def __post_init__(self):
         elif self.type == "dexpilot":
             if self.finger_tip_link_names is None or self.wrist_link_name is None:
                 raise ValueError(f"Position retargeting requires: finger_tip_link_names + wrist_link_name")
+            if self.target_link_human_indices is not None:
+                print(
+                    "\033[33m",
+                    "Target link human indices is provided in the DexPilot retargeting config, which is uncommon.\n"
+                    "If you do not know exactly how it is used, please leave it to None for default.\n"
+                    "\033[00m",
+                )
 
         # URDF path check
         urdf_path = Path(self.urdf_path)
@@ -181,6 +188,7 @@ def build(self) -> SeqRetargeting:
                 joint_names,
                 finger_tip_link_names=self.finger_tip_link_names,
                 wrist_link_name=self.wrist_link_name,
+                target_link_human_indices=self.target_link_human_indices,
                 scaling=self.scaling_factor,
             )
         else:

diff --git a/example/vector_retargeting/render_robot_hand.py b/example/vector_retargeting/render_robot_hand.py
@@ -22,7 +22,7 @@ def render_by_sapien(
     headless: Optional[bool] = False,
 ):
     # Generate rendering config
-    use_rt = True
+    use_rt = headless
     if not use_rt:
         sapien.render.set_viewer_shader_dir("default")
         sapien.render.set_camera_shader_dir("default")