[update] update readme and action

.editorconfig

@@ -0,0 +1,24 @@
+# top-most EditorConfig file
+root = true
+
+# Unix-style newlines with a newline ending every file
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+charset = utf-8
+
+[*.{py,java,r,R}]
+indent_style = space
+indent_size = 4
+
+[*.{xml,xsd,urdf}]
+max_line_length = off
+indent_style = space
+indent_size = 2
+
+[*.{md,Rmd,rst}]
+trim_trailing_whitespace = false
+indent_style = space
+indent_size = 2
+

.github/workflows/build_nightly.yml

@@ -39,8 +39,8 @@ jobs:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:
           tag_name: nightly
-          name: 'dvp_teleop Nightly Release'
+          name: 'dex_retargeting Nightly Release'
           prerelease: true
           body: 'Nightly release.'
           files: |
-            ./dist/*.whl
+            ./dist/*.whl

.github/workflows/build_stable.yml

@@ -38,4 +38,17 @@ jobs:
           path: ./dist/*.whl
 
       - name: Publish package distributions to PyPI
-        uses: pypa/gh-action-pypi-publish@release/v1
+        uses: pypa/gh-action-pypi-publish@release/v1
+
+      - name: Create Release
+        id: create_release
+        uses: actions/create-release@latest
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: Release ${{ github.ref }}
+          body: |
+            Automatic tagged release
+          draft: false
+          prerelease: false

.gitignore

@@ -14,4 +14,7 @@ imgui.ini
 .DS_Store
 /.idea
 /log
-/example/data/output_*.mp4
+
+# Examples
+/example/vector_retargeting/data/
+!example/vector_retargeting/data/human_hand_video.mp4

README.md

@@ -5,6 +5,14 @@ Dex Retargeting
     <a href='https://github.com/dexsuite/dex-retargeting/blob/main/.github/workflows/test.yml'>
         <img src='https://github.com/dexsuite/dex-retargeting/actions/workflows/test.yml/badge.svg' alt='Test Status' />
     </a>
+    <!-- issue badge -->
+    <a href="https://github.com/dexsuite/dex-retargeting/issues">
+    <img src="https://img.shields.io/github/issues/dexsuite/dex-retargeting.svg" alt="Issues">
+    </a>
+    <!-- release badge -->
+    <a href="https://github.com/dexsuite/dex-retargeting/tags">
+    <img src="https://img.shields.io/github/v/release/dexsuite/dex-retargeting.svg?include_prereleases&sort=semver" alt="Releases">
+    </a>
     <!-- license badge -->
     <a href="https://github.com/dexsuite/dex-retargeting/blob/main/LICENSE">
         <img alt="License" src="https://img.shields.io/badge/license-MIT-blue">

dex_retargeting/optimizer.py

@@ -65,7 +65,17 @@ def set_kinematic_adaptor(self, adaptor: KinematicAdaptor):
             new_fixed_id = np.array([x for x in fixed_idx if x not in mimic_idx], dtype=int)
             self.idx_pin2fixed = new_fixed_id
 
-    def retarget(self, ref_value, fixed_qpos, last_qpos=None):
+    def retarget(self, ref_value, fixed_qpos, last_qpos):
+        """
+        Compute the retargeting results using non-linear optimization
+        Args:
+            ref_value: the reference value in cartesian space as input, different optimizer has different reference
+            fixed_qpos: the fixed value (not optimized) in retargeting, consistent with self.fixed_joint_names
+            last_qpos: the last retargeting results or initial value, consistent with function return
+
+        Returns: joint position of robot, the joint order and dim is consistent with self.target_joint_names
+
+        """
         if len(fixed_qpos) != len(self.idx_pin2fixed):
             raise ValueError(
                 f"Optimizer has {len(self.idx_pin2fixed)} joints but non_target_qpos {fixed_qpos} is given"
@@ -84,6 +94,11 @@ def retarget(self, ref_value, fixed_qpos, last_qpos=None):
     def get_objective_function(self, ref_value: np.ndarray, fixed_qpos: np.ndarray, last_qpos: np.ndarray):
         pass
 
+    @property
+    def fixed_joint_names(self):
+        joint_names = self.robot.dof_joint_names
+        return [joint_names[i] for i in self.idx_pin2fixed]
+
 
 class PositionOptimizer(Optimizer):
     retargeting_type = "position"

setup.py

@@ -60,7 +60,7 @@
     "mypy",
 ]
 
-example_requirements = ["tyro", "tqdm", "opencv-python", "mediapipe", "sapien<3.0"]
+example_requirements = ["tyro", "tqdm", "opencv-python", "mediapipe", "sapien==3.0.0b0"]
 
 classifiers = [
     "Development Status :: 3 - Alpha",