[update] update build dev wheel

.github/workflows/build_nightly.yml

@@ -0,0 +1,46 @@
+name: Build Nightly
+
+on:
+  push:
+    branches: [ main, dev ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [ "3.8" ]
+
+    permissions:
+      id-token: write
+      contents: write
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Build wheels
+        run: pip3 install setuptools build --upgrade && python -m build -w
+
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels
+          path: ./dist/*.whl
+
+      - name: Update Nightly Release
+        uses: andelf/nightly-release@main
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: nightly
+          name: 'dvp_teleop Nightly Release'
+          prerelease: true
+          body: 'Nightly release.'
+          files: |
+            ./dist/*.whl

README.md

@@ -14,10 +14,19 @@ Dex Retargeting
 ## Installation
 
 ```shell
-pip3 install -e ".[example]"
-# If you do not need to run the examples:
-# pip install -e .
+# Install from pypi
+pip install dex_retargeting`` 
 
+# Or install from Github
+git clone https://github.com/dexsuite/dex-retargeting
+cd dex-retargeting
+pip install -e .
+```
+
+To run the example, you may need additional dependencies for rendering and hand pose detection.
+
+```shell
+pip install -e ".[example]"
 ```
 
 ## Examples

dex_retargeting/configs/teleop/schunk_svh_hand_left.yml

@@ -0,0 +1,20 @@
+retargeting:
+  type: vector
+  urdf_path: schunk_hand/schunk_svh_hand_left.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',
+                        'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
+                        'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
+  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: 1.2
+
+
+  # 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
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 8, 12, 16, 20, ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/configs/teleop/schunk_svh_hand_left_dexpilot.yml

@@ -0,0 +1,18 @@
+retargeting:
+  type: DexPilot
+  urdf_path: schunk_hand/schunk_svh_hand_left.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',
+                        'right_hand_Index_Finger_Distal', 'right_hand_Finger_Spread', 'right_hand_Pinky',
+                        'right_hand_Ring_Finger', 'right_hand_Middle_Finger_Proximal', 'right_hand_Middle_Finger_Distal' ]
+  finger_tip_link_names: [ "right_hand_c", "right_hand_t", "right_hand_s", "right_hand_r", "right_hand_q" ]
+  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
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 8, 12, 16, 20, ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/retargeting_config.py

@@ -197,7 +197,7 @@ def build(self) -> SeqRetargeting:
             )
             optimizer.set_kinematic_adaptor(adaptor)
             print(
-                "\033[34m\n",
+                "\033[34m",
                 "Mimic joint adaptor enabled. The mimic joint tags in the URDF will be considered during retargeting.\n"
                 "To disable mimic joint adaptor, consider setting ignore_mimic_joint=True in the configuration.",
                 "\033[39m",