[add] add leap hand retargeting config

dex_retargeting/configs/teleop/leap_hand_right.yml

@@ -0,0 +1,17 @@
+retargeting:
+  type: vector
+  urdf_path: leap_hand/leap_hand_right.urdf
+  wrist_link_name: "base"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "base", "base", "base", "base" ]
+  target_task_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head" ]
+  scaling_factor: 1.6
+
+  # 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 ], [ 4, 8, 12, 16 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/configs/teleop/leap_hand_right_dexpilot.yml

@@ -0,0 +1,12 @@
+retargeting:
+  type: DexPilot
+  urdf_path: leap_hand/leap_hand_right.urdf
+  wrist_link_name: "base"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  finger_tip_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head" ]
+  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

@@ -6,6 +6,7 @@ class RobotName(enum.Enum):
     allegro = enum.auto()
     shadow = enum.auto()
     svh = enum.auto()
+    leap = enum.auto()
 
 
 class RetargetingType(enum.Enum):
@@ -23,6 +24,7 @@ class HandType(enum.Enum):
     RobotName.allegro: "allegro_hand",
     RobotName.shadow: "shadow_hand",
     RobotName.svh: "schunk_svh_hand",
+    RobotName.leap: "leap_hand",
 }
 
 ROBOT_NAMES = list(ROBOT_NAME_MAP.keys())

example/vector_retargeting/render_robot_hand.py

@@ -52,6 +52,8 @@ def render_by_sapien(
         robot.set_pose(sapien.Pose([0, 0, -0.05]))
     elif "dlr" in robot_file_name:
         robot.set_pose(sapien.Pose([0, 0, -0.08]))
+    elif "leap" in robot_file_name:
+        robot.set_pose(sapien.Pose([0, 0, -0.1]))
     else:
         robot.set_pose(sapien.Pose([0, 0, 0.0]))