[update] update dict config parse

dex_retargeting/retargeting_config.py

@@ -1,7 +1,7 @@
 import sapien.core as sapien
 from dataclasses import dataclass
 from pathlib import Path
-from typing import List, Optional, Dict
+from typing import List, Optional, Dict, Any
 from typing import Union
 
 import numpy as np
@@ -45,6 +45,9 @@ class RetargetingConfig:
     normal_delta: float = 4e-3
     huber_delta: float = 2e-2
 
+    # Constraint parameters
+    constraint_map: Optional[Dict[str, np.ndarray]] = None
+
     # Joint limit tag
     has_joint_limits: bool = True
 
@@ -110,12 +113,16 @@ def load_from_file(cls, config_path: Union[str, Path], override: Optional[Dict]
         with path.open("r") as f:
             yaml_config = yaml.load(f, Loader=yaml.FullLoader)
             cfg = yaml_config["retargeting"]
-            if "target_link_human_indices" in cfg:
-                cfg["target_link_human_indices"] = np.array(cfg["target_link_human_indices"])
-            if override is not None:
-                for key, value in override.items():
-                    cfg[key] = value
-            config = RetargetingConfig(**cfg)
+            return cls.from_dict(cfg, override)
+
+    @classmethod
+    def from_dict(cls, cfg: Dict[str, Any], override: Optional[Dict] = None):
+        if "target_link_human_indices" in cfg:
+            cfg["target_link_human_indices"] = np.array(cfg["target_link_human_indices"])
+        if override is not None:
+            for key, value in override.items():
+                cfg[key] = value
+        config = RetargetingConfig(**cfg)
         return config
 
     def build(self, scene: Optional[sapien.Scene] = None) -> SeqRetargeting:

tests/test_retargeting_config.py

@@ -1,6 +1,7 @@
 from pathlib import Path
 
 import pytest
+import yaml
 
 from dex_retargeting.retargeting_config import RetargetingConfig
 from dex_retargeting.seq_retarget import SeqRetargeting
@@ -36,8 +37,71 @@ class TestRetargetingConfig:
     )
 
     @pytest.mark.parametrize("config_path", config_paths)
-    def test_config_parsing(self, config_path):
+    def test_path_config_parsing(self, config_path):
         config_path = self.config_dir / config_path
         config = RetargetingConfig.load_from_file(config_path)
         retargeting = config.build()
+        assert isinstance(retargeting, SeqRetargeting)
+
+    def test_dict_config_parsing(self):
+        cfg_str = """
+        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
+
+        # 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
+        """
+        cfg_dict = yaml.safe_load(cfg_str)
+        config = RetargetingConfig.from_dict(cfg_dict)
+        retargeting = config.build()
         assert type(retargeting) == SeqRetargeting
+
+    def test_multi_dict_config_parsing(self):
+        cfg_str = """
+        - 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
+
+          # 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
+          
+        - 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
+        """
+        cfg_dict_list = yaml.safe_load(cfg_str)
+        retargetings = []
+        for cfg_dict in cfg_dict_list:
+            config = RetargetingConfig.from_dict(cfg_dict)
+            retargeting = config.build()
+            retargetings.append(retargeting)
+            assert isinstance(retargeting, SeqRetargeting)