[update] major update to clean up retargeting config structure and re…

…move unnecessary entries

dex_retargeting/__init__.py

@@ -1 +1 @@
-__version__ = "0.3.4"
+__version__ = "0.4.0"

dex_retargeting/configs/offline/ability_hand_left.yml

@@ -1,12 +1,12 @@
 retargeting:
   type: position
   urdf_path: ability_hand/ability_hand_left.urdf
-  wrist_link_name: "base_link"
 
   target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]
   target_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/ability_hand_right.yml

@@ -1,16 +1,16 @@
 retargeting:
   type: position
   urdf_path: ability_hand/ability_hand_right.urdf
-  wrist_link_name: "base_link"
 
   target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]
   target_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20 ]
+  add_dummy_free_joint: True
 
   # 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
 
   # To ignore the mimic joint tags in the URDF, set it to True
-  ignore_mimic_joint: False
+  ignore_mimic_joint: False

dex_retargeting/configs/offline/allegro_hand_left.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: allegro_hand/allegro_hand_left.urdf
-  wrist_link_name: "wrist"
 
   target_joint_names: null
   target_link_names: [ "link_15.0_tip", "link_11.0_tip", "link_7.0_tip", "link_3.0_tip", "link_14.0",
                        "link_10.0", "link_6.0", "link_2.0" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 2, 6, 10, 14 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/allegro_hand_right.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: allegro_hand/allegro_hand_right.urdf
-  wrist_link_name: "wrist"
 
   target_joint_names: null
   target_link_names: [ "link_15.0_tip", "link_3.0_tip", "link_7.0_tip", "link_11.0_tip", "link_14.0",
                        "link_2.0", "link_6.0", "link_10.0" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 2, 6, 10, 14 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/inspire_hand_left.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: inspire_hand/inspire_hand_left.urdf
-  wrist_link_name: "base"
 
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',
                         'thumb_proximal_pitch_joint', 'thumb_proximal_yaw_joint' ]
   target_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/inspire_hand_right.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: inspire_hand/inspire_hand_right.urdf
-  wrist_link_name: "base"
 
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',
                         'thumb_proximal_pitch_joint', 'thumb_proximal_yaw_joint' ]
   target_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/leap_hand_left.yml

@@ -1,12 +1,12 @@
 retargeting:
   type: position
   urdf_path: leap_hand/leap_hand_left.urdf
-  wrist_link_name: "base"
 
   target_joint_names: null
   target_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head", "thumb_dip", "dip", "dip_2", "dip_3" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 2, 6, 10, 14 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/leap_hand_right.yml

@@ -1,12 +1,12 @@
 retargeting:
   type: position
   urdf_path: leap_hand/leap_hand_right.urdf
-  wrist_link_name: "base"
 
   target_joint_names: null
   target_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head", "thumb_dip", "dip", "dip_2", "dip_3" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 2, 6, 10, 14 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/schunk_svh_hand_left.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: position
   urdf_path: schunk_hand/schunk_svh_hand_left.urdf
-  wrist_link_name: "left_hand_base_link"
 
   target_joint_names: [ 'left_hand_Thumb_Opposition', 'left_hand_Thumb_Flexion', 'left_hand_Index_Finger_Proximal',
                         'left_hand_Index_Finger_Distal', 'left_hand_Finger_Spread', 'left_hand_Pinky',
@@ -10,6 +9,7 @@ retargeting:
                         "left_hand_q", "left_hand_b", "left_hand_p", "left_hand_o", "left_hand_n", "left_hand_i"]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20, 2, 6, 10, 14, 18 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/schunk_svh_hand_right.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: position
   urdf_path: schunk_hand/schunk_svh_hand_right.urdf
-  wrist_link_name: "right_hand_base_link"
 
   target_joint_names: [ 'right_hand_Thumb_Opposition', 'right_hand_Thumb_Flexion', 'right_hand_Index_Finger_Proximal',
                         'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
@@ -10,6 +9,7 @@ retargeting:
                         "right_hand_q", "right_hand_b", "right_hand_p", "right_hand_o", "right_hand_n", "right_hand_i"]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20, 2, 6, 10, 14, 18 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/shadow_hand_left.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: shadow_hand/shadow_hand_left.urdf
-  wrist_link_name: "ee_link"
 
   target_joint_names: null
   target_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip",
                        "thmiddle", "ffmiddle", "mfmiddle", "rfmiddle", "lfmiddle" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20, 2, 6, 10, 14, 18 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/offline/shadow_hand_right.yml

@@ -1,13 +1,13 @@
 retargeting:
   type: position
   urdf_path: shadow_hand/shadow_hand_right.urdf
-  wrist_link_name: "ee_link"
 
   target_joint_names: null
   target_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip",
                        "thmiddle", "ffmiddle", "mfmiddle", "rfmiddle", "lfmiddle" ]
 
   target_link_human_indices: [ 4, 8, 12, 16, 20, 2, 6, 10, 14, 18 ]
+  add_dummy_free_joint: True
 
   # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
   # 1 means no filter while 0 means not moving

dex_retargeting/configs/teleop/ability_hand_left.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: vector
   urdf_path: ability_hand/ability_hand_left.urdf
-  wrist_link_name: "base_link"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]

dex_retargeting/configs/teleop/ability_hand_left_dexpilot.yml

@@ -1,10 +1,10 @@
 retargeting:
   type: DexPilot
   urdf_path: ability_hand/ability_hand_left.urdf
-  wrist_link_name: "base_link"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]
+  wrist_link_name: "base_link"
   finger_tip_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
   scaling_factor: 1.0
 

dex_retargeting/configs/teleop/ability_hand_right.yml

@@ -1,7 +1,6 @@
 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: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]

dex_retargeting/configs/teleop/ability_hand_right_dexpilot.yml

@@ -1,10 +1,10 @@
 retargeting:
   type: DexPilot
   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: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1' ]
+  wrist_link_name: "base_link"
   finger_tip_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
   scaling_factor: 1.0
 

dex_retargeting/configs/teleop/allegro_hand_left.yml

@@ -1,10 +1,8 @@
 retargeting:
   type: vector
   urdf_path: allegro_hand/allegro_hand_left.urdf
-  wrist_link_name: "wrist"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: null
   target_origin_link_names: [ "wrist", "wrist", "wrist", "wrist" ]
   target_task_link_names: [ "link_15.0_tip", "link_11.0_tip", "link_7.0_tip", "link_3.0_tip" ]
   scaling_factor: 1.6

dex_retargeting/configs/teleop/allegro_hand_left_dexpilot.yml

@@ -1,10 +1,9 @@
 retargeting:
   type: DexPilot
   urdf_path: allegro_hand/allegro_hand_left.urdf
-  wrist_link_name: "wrist"
 
   # 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_11.0_tip", "link_7.0_tip", "link_3.0_tip" ]
   scaling_factor: 1.6
 

dex_retargeting/configs/teleop/allegro_hand_right.yml

@@ -1,10 +1,8 @@
 retargeting:
   type: vector
   urdf_path: allegro_hand/allegro_hand_right.urdf
-  wrist_link_name: "wrist"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: null
   target_origin_link_names: [ "wrist", "wrist", "wrist", "wrist" ]
   target_task_link_names: [ "link_15.0_tip", "link_3.0_tip", "link_7.0_tip", "link_11.0_tip" ]
   scaling_factor: 1.6

dex_retargeting/configs/teleop/allegro_hand_right_dexpilot.yml

@@ -1,10 +1,9 @@
 retargeting:
   type: DexPilot
   urdf_path: allegro_hand/allegro_hand_right.urdf
-  wrist_link_name: "wrist"
 
   # 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
 

dex_retargeting/configs/teleop/inspire_hand_left.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: vector
   urdf_path: inspire_hand/inspire_hand_left.urdf
-  wrist_link_name: "base"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',

dex_retargeting/configs/teleop/inspire_hand_left_dexpilot.yml

@@ -1,11 +1,11 @@
 retargeting:
   type: DexPilot
   urdf_path: inspire_hand/inspire_hand_left.urdf
-  wrist_link_name: "base"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',
                         'thumb_proximal_pitch_joint', 'thumb_proximal_yaw_joint' ]
+  wrist_link_name: "base"
   finger_tip_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
   scaling_factor: 1.15
 

dex_retargeting/configs/teleop/inspire_hand_right.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: vector
   urdf_path: inspire_hand/inspire_hand_right.urdf
-  wrist_link_name: "base"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',

dex_retargeting/configs/teleop/inspire_hand_right_dexpilot.yml

@@ -1,11 +1,11 @@
 retargeting:
   type: DexPilot
   urdf_path: inspire_hand/inspire_hand_right.urdf
-  wrist_link_name: "base"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'pinky_proximal_joint', 'ring_proximal_joint', 'middle_proximal_joint', 'index_proximal_joint',
                         'thumb_proximal_pitch_joint', 'thumb_proximal_yaw_joint' ]
+  wrist_link_name: "base"
   finger_tip_link_names: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip" ]
   scaling_factor: 1.15
 

dex_retargeting/configs/teleop/leap_hand_left.yml

@@ -1,10 +1,8 @@
 retargeting:
   type: vector
   urdf_path: leap_hand/leap_hand_left.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

dex_retargeting/configs/teleop/leap_hand_left_dexpilot.yml

@@ -1,10 +1,9 @@
 retargeting:
   type: DexPilot
   urdf_path: leap_hand/leap_hand_left.urdf
-  wrist_link_name: "base"
 
   # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: null
+  wrist_link_name: "base"
   finger_tip_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head" ]
   scaling_factor: 1.6
 

dex_retargeting/configs/teleop/leap_hand_right.yml

@@ -1,10 +1,8 @@
 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

dex_retargeting/configs/teleop/leap_hand_right_dexpilot.yml

@@ -1,10 +1,9 @@
 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
+  wrist_link_name: "base"
   finger_tip_link_names: [ "thumb_tip_head", "index_tip_head", "middle_tip_head", "ring_tip_head" ]
   scaling_factor: 1.6
 

dex_retargeting/configs/teleop/schunk_svh_hand_left.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: vector
   urdf_path: schunk_hand/schunk_svh_hand_left.urdf
-  wrist_link_name: "left_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'left_hand_Thumb_Opposition', 'left_hand_Thumb_Flexion', 'left_hand_Index_Finger_Proximal',

dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml

@@ -1,12 +1,12 @@
 retargeting:
   type: DexPilot
   urdf_path: schunk_hand/schunk_svh_hand_left.urdf
-  wrist_link_name: "left_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'left_hand_Thumb_Opposition', 'left_hand_Thumb_Flexion', 'left_hand_Index_Finger_Proximal',
                         'left_hand_Index_Finger_Distal', 'left_hand_Finger_Spread', 'left_hand_Pinky',
                         'left_hand_Ring_Finger', 'left_hand_Middle_Finger_Proximal', 'left_hand_Middle_Finger_Distal' ]
+  wrist_link_name: "left_hand_base_link"
   finger_tip_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip" ]
   scaling_factor: 1.2
 

dex_retargeting/configs/teleop/schunk_svh_hand_right.yml

@@ -1,7 +1,6 @@
 retargeting:
   type: vector
   urdf_path: schunk_hand/schunk_svh_hand_right.urdf
-  wrist_link_name: "right_hand_base_link"
 
   # Target refers to the retargeting target, which is the robot hand
   target_joint_names: [ 'right_hand_Thumb_Opposition', 'right_hand_Thumb_Flexion', 'right_hand_Index_Finger_Proximal',