[update] update left hand dexpilot retargeting and improve rendering …

…for onscreen case

dex_retargeting/configs/teleop/allegro_hand_left_dexpilot.yml

@@ -0,0 +1,13 @@
+retargeting:
+  type: DexPilot
+  urdf_path: allegro_hand/allegro_hand_left.urdf
+  use_camera_frame_retargeting: False
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  wrist_link_name: "wrist"
+  finger_tip_link_names: [ "link_15.0_tip", "link_3.0_tip", "link_7.0_tip", "link_11.0_tip" ]
+  scaling_factor: 1.6
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/constants.py

@@ -9,9 +9,9 @@ class RobotName(enum.Enum):
 
 
 class RetargetingType(enum.Enum):
-    vector = enum.auto()
-    position = enum.auto()
-    dexpilot = enum.auto()
+    vector = enum.auto()  # For teleoperation, no finger closing prior
+    position = enum.auto()  # For offline data processing, especially hand-object interaction data
+    dexpilot = enum.auto()  # For teleoperation, with finger closing prior
 
 
 class HandType(enum.Enum):

example/detect_from_video.py

@@ -71,6 +71,8 @@ def main(
         output_path: The file path for the output data in .pickle format.
         retargeting_type: The type of retargeting, each type corresponds to a different retargeting algorithm.
         hand_type: Specifies which hand is being tracked, either left or right.
+            Please note that retargeting is specific to the same type of hand: a left robot hand can only be retargeted
+            to another left robot hand, and the same applies for the right hand.
     """
 
     config_path = get_config_path(robot_name, retargeting_type, hand_type)

example/render_robot_hand.py

@@ -72,6 +72,8 @@ def render_by_sapien(
         viewer = Viewer(renderer)
         viewer.set_scene(scene)
         viewer.focus_camera(cam)
+        viewer.toggle_axes(False)
+        viewer.toggle_camera_lines(False)
     else:
         viewer = None