[add] add ability hand

dex_retargeting/configs/offline/ability_hand_right.yml

@@ -0,0 +1,13 @@
+retargeting:
+  type: position
+  urdf_path: ability_hand/ability_hand_right.urdf
+  wrist_link_name: "base_link"
+
+  target_joint_names: null
+  target_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
+
+  target_link_human_indices: [ 4, 8, 12, 16, 20 ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  # 1 means no filter while 0 means not moving
+  low_pass_alpha: 1

dex_retargeting/configs/teleop/ability_hand_right.yml

@@ -0,0 +1,17 @@
+retargeting:
+  type: vector
+  urdf_path: ability_hand/ability_hand_right.urdf
+  wrist_link_name: "base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "base_link", "base_link", "base_link", "base_link", "base_link" ]
+  target_task_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip", ]
+  scaling_factor: 1.0
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/configs/teleop/shadow_hand_right_dexpilot.yml

@@ -5,7 +5,6 @@ retargeting:
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: null
-  wrist_link_name: "palm"
   finger_tip_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 

dex_retargeting/constants.py

@@ -7,6 +7,7 @@ class RobotName(enum.Enum):
     shadow = enum.auto()
     svh = enum.auto()
     leap = enum.auto()
+    ability = enum.auto()
 
 
 class RetargetingType(enum.Enum):
@@ -25,6 +26,7 @@ class HandType(enum.Enum):
     RobotName.shadow: "shadow_hand",
     RobotName.svh: "schunk_svh_hand",
     RobotName.leap: "leap_hand",
+    RobotName.ability: "ability_hand",
 }
 
 ROBOT_NAMES = list(ROBOT_NAME_MAP.keys())

tests/test_retargeting_config.py

@@ -10,12 +10,14 @@
     "allegro_left": "teleop/allegro_hand_left.yml",
     "shadow_right": "teleop/shadow_hand_right.yml",
     "svh_right": "teleop/schunk_svh_hand_right.yml",
+    "leap_right": "teleop/leap_hand_right.yml",
+    "ability_right": "teleop/ability_hand_right.yml",
 }
 POSITION_CONFIG_DICT = {
     "allegro_right": "offline/allegro_hand_right.yml",
-    # "allegro_left": "offline/allegro_hand_left.yml",
-    # "shadow_right": "offline/shadow_hand_right.yml",
-    # "svh_right": "offline/schunk_svh_hand_right.yml",
+    "shadow_right": "offline/shadow_hand_right.yml",
+    "svh_right": "offline/schunk_svh_hand_right.yml",
+    "leap_right": "offline/leap_hand_right.yml",
 }
 DEXPILOT_CONFIG_DICT = {
     "allegro_right": "teleop/allegro_hand_right_dexpilot.yml",
@@ -30,7 +32,8 @@ class TestRetargetingConfig:
     RetargetingConfig.set_default_urdf_dir(str(robot_dir.absolute()))
 
     config_paths = (
-        list(VECTOR_CONFIG_DICT.values()) + list(POSITION_CONFIG_DICT.values()) + list(DEXPILOT_CONFIG_DICT.values())
+            list(VECTOR_CONFIG_DICT.values()) + list(POSITION_CONFIG_DICT.values()) + list(
+        DEXPILOT_CONFIG_DICT.values())
     )
 
     @pytest.mark.parametrize("config_path", config_paths)

tests/test_sapien_optimizer.py

@@ -5,7 +5,7 @@
 import pytest
 import sapien.core as sapien
 
-from dex_retargeting.constants import ROBOT_NAMES, get_default_config_path, RetargetingType, HandType
+from dex_retargeting.constants import ROBOT_NAMES, get_default_config_path, RetargetingType, HandType, RobotName
 from dex_retargeting.optimizer import VectorOptimizer, PositionOptimizer
 from dex_retargeting.retargeting_config import RetargetingConfig
 
@@ -15,6 +15,8 @@ class TestSapienOptimizer:
     config_dir = Path(__file__).parent.parent / "dex_retargeting" / "configs"
     robot_dir = Path(__file__).parent.parent / "assets" / "robots" / "hands"
     RetargetingConfig.set_default_urdf_dir(str(robot_dir.absolute()))
+    DEXPILOT_ROBOT_NAMES = ROBOT_NAMES.copy()
+    DEXPILOT_ROBOT_NAMES.remove(RobotName.ability)
 
     @staticmethod
     def generate_vector_retargeting_data_gt(robot: sapien.Articulation, optimizer: VectorOptimizer):
@@ -125,7 +127,7 @@ def test_vector_optimizer(self, robot_name, hand_type):
         print(f"Retargeting computation for {robot_name.name} takes {tac - tic}s for {num_optimization} times")
         assert np.mean(errors["pos"]) < 1e-2
 
-    @pytest.mark.parametrize("robot_name", ROBOT_NAMES)
+    @pytest.mark.parametrize("robot_name", DEXPILOT_ROBOT_NAMES)
     @pytest.mark.parametrize("hand_type", [name for name in HandType][:1])
     def test_dexpilot_optimizer(self, robot_name, hand_type):
         config_path = get_default_config_path(robot_name, RetargetingType.dexpilot, hand_type)