add Panda gripper

dex_retargeting/configs/teleop/panda_gripper.yml

@@ -0,0 +1,17 @@
+retargeting:
+  type: vector
+  urdf_path: panda_gripper/panda_v2_gripper.urdf 
+  wrist_link_name: "base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: [ "panda_finger_joint1" ]
+  target_origin_link_names: [ "panda_leftfinger" ]
+  target_task_link_names: [ "panda_rightfinger" ]
+  scaling_factor: 1.5
+
+  # 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: [ [ 4 ], [ 8 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/constants.py

@@ -9,6 +9,7 @@ class RobotName(enum.Enum):
     leap = enum.auto()
     ability = enum.auto()
     inspire = enum.auto()
+    panda = enum.auto()
 
 
 class RetargetingType(enum.Enum):
@@ -29,6 +30,7 @@ class HandType(enum.Enum):
     RobotName.leap: "leap_hand",
     RobotName.ability: "ability_hand",
     RobotName.inspire: "inspire_hand",
+    RobotName.panda: "panda_gripper",
 }
 
 ROBOT_NAMES = list(ROBOT_NAME_MAP.keys())

example/vector_retargeting/README.md

@@ -41,10 +41,10 @@ This command uses the data saved from the previous step to create a rendered vid
 *The following instructions assume that your computer has a webcam connected.*
 
 ```bash
-python3 capture_webcam.py --video-path example/vector_retargeting/data/my_human_hand_video.mp4
+python3 capture_webcam.py --video-path data/my_human_hand_video.mp4
 ```
 
-This command enables you to use your webcam to record a video saved in MP4 format. To stop recording, press `q` on your
+This command enables you to use your webcam to record a video saved in MP4 format. To stop recording, press `Esc` on your
 keyboard.
 
 ### Real-time Visualization of Hand Retargeting via Webcam

example/vector_retargeting/capture_webcam.py

@@ -30,6 +30,7 @@ def main(video_path: str, video_capture_device: Union[str, int] = 0):
         if cv2.waitKey(1) & 0xFF == 27:
             break
 
+    print('Recording finished')
     cap.release()
     writer.release()
     cv2.destroyAllWindows()