[update] update svh default config

dexsuite · Aug 28, 2023 · 67a03af · 67a03af
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/README.md b/README.md
@@ -40,7 +40,8 @@ This command will output the joint trajectory as a pickle file at the `output_pa
 
 The pickle file is a python dictionary with two keys: `meta_data` and `data`. `meta_data`, a dictionary, includes
 details about the robot, while `data`, a list, contains the robotic joint positions for each frame. For additional
-options, refer to the help information.
+options, refer to the help information. Note that the time cost here includes both the hand pose detection from video,
+and the hand pose retargeting in single process mode.
 
 ```shell
 python3 example/detect_from_video.py --help

diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_right.yml
@@ -7,7 +7,7 @@ retargeting:
   target_joint_names: null
   target_origin_link_names: [ "right_hand_base_link","right_hand_base_link", "right_hand_base_link", "right_hand_base_link", "right_hand_base_link", ]
   target_task_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
-  scaling_factor: 1.1
+  scaling_factor: 1.2
 
   # 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

diff --git a/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml b/dex_retargeting/configs/teleop/schunk_svh_hand_right_dexpilot.yml
@@ -7,7 +7,7 @@ retargeting:
   target_joint_names: null
   wrist_link_name: "right_hand_base_link"
   finger_tip_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
-  scaling_factor: 1.1
+  scaling_factor: 1.2
 
   # 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