[fix] fix seq retargeting reset bug

dex_retargeting/retargeting_config.py

@@ -45,10 +45,14 @@ class RetargetingConfig:
     # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
     scaling_factor: float = 1.0
 
-    # Optimization hyperparameter
+    # Optimization parameters
     normal_delta: float = 4e-3
     huber_delta: float = 2e-2
 
+    # DexPilot optimizer parameters
+    project_dist: float = 0.03
+    escape_dist: float = 0.05
+
     # Joint limit tag
     has_joint_limits: bool = True
 
@@ -191,6 +195,8 @@ def build(self) -> SeqRetargeting:
                 wrist_link_name=self.wrist_link_name,
                 target_link_human_indices=self.target_link_human_indices,
                 scaling=self.scaling_factor,
+                project_dist=self.project_dist,
+                escape_dist=self.escape_dist,
             )
         else:
             raise RuntimeError()

dex_retargeting/seq_retarget.py

@@ -130,7 +130,7 @@ def verbose(self):
         print(f"Last distance: {min_value}")
 
     def reset(self):
-        self.last_qpos = self.joint_limits.mean(1)[self.optimizer.idx_pin2target]
+        self.last_qpos = self.joint_limits.mean(1).astype(np.float32)
         self.num_retargeting = 0
         self.accumulated_time = 0