[fix] small fix for hand type and improve verbose

dex_retargeting/configs/offline/panda_gripper.yml

@@ -0,0 +1,16 @@
+retargeting:
+  type: position
+  urdf_path: panda_gripper/panda_gripper_glb.urdf
+
+  target_joint_names: [ "panda_finger_joint1" ]
+  target_link_names: [ "panda_leftfinger", "panda_rightfinger"]
+
+  target_link_human_indices: [ 4, 8 ]
+  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

dex_retargeting/constants.py

@@ -1,5 +1,6 @@
 import enum
 from pathlib import Path
+from typing import Optional
 
 
 class RobotName(enum.Enum):
@@ -21,7 +22,6 @@ class RetargetingType(enum.Enum):
 class HandType(enum.Enum):
     right = enum.auto()
     left = enum.auto()
-    both = enum.auto()
 
 
 ROBOT_NAME_MAP = {
@@ -37,7 +37,9 @@ class HandType(enum.Enum):
 ROBOT_NAMES = list(ROBOT_NAME_MAP.keys())
 
 
-def get_default_config_path(robot_name: RobotName, retargeting_type: RetargetingType, hand_type: HandType) -> Path:
+def get_default_config_path(
+    robot_name: RobotName, retargeting_type: RetargetingType, hand_type: HandType
+) -> Optional[Path]:
     config_path = Path(__file__).parent / "configs"
     if retargeting_type is RetargetingType.position:
         config_path = config_path / "offline"
@@ -46,8 +48,14 @@ def get_default_config_path(robot_name: RobotName, retargeting_type: Retargeting
 
     robot_name_str = ROBOT_NAME_MAP[robot_name]
     hand_type_str = hand_type.name
-    if retargeting_type == RetargetingType.dexpilot:
-        config_name = f"{robot_name_str}_{hand_type_str}_dexpilot.yml"
+    if "gripper" in robot_name_str:
+        config_name = f"{robot_name_str}.yml"  # For gripper robots, only use gripper config file.
+        if retargeting_type == RetargetingType.dexpilot:
+            print(f"DexPilot retargeting is not supported for gripper.")
+            return None
     else:
-        config_name = f"{robot_name_str}_{hand_type_str}.yml"
+        if retargeting_type == RetargetingType.dexpilot:
+            config_name = f"{robot_name_str}_{hand_type_str}_dexpilot.yml"
+        else:
+            config_name = f"{robot_name_str}_{hand_type_str}.yml"
     return config_path / config_name

example/profiling/profile_online_retargeting.py

@@ -51,7 +51,7 @@ def main():
         config_path = get_default_config_path(
             robot_name,
             RetargetingType.vector,
-            HandType.right if "gripper" not in ROBOT_NAME_MAP[robot_name] else HandType.both,
+            HandType.right,
         )
         retargeting = RetargetingConfig.load_from_file(config_path).build()
         total_time = profile_retargeting(retargeting, joint_data)

tests/test_optimizer.py

@@ -67,10 +67,6 @@ def generate_position_retargeting_data_gt(robot: RobotWrapper, optimizer: Positi
     def test_position_optimizer(self, robot_name, hand_type):
         config_path = get_default_config_path(robot_name, RetargetingType.position, hand_type)
 
-        if not config_path.exists():
-            print(f"Skip the test for {robot_name.name} as the config file does not exist.")
-            return
-
         # Note: The parameters below are adjusted solely for this test
         # The smoothness penalty is deactivated here, meaning no low pass filter and no continuous joint value
         # This is because the test is focused solely on the efficiency of single step optimization
@@ -113,9 +109,7 @@ def test_position_optimizer(self, robot_name, hand_type):
     @pytest.mark.parametrize("hand_type", [name for name in HandType])
     def test_vector_optimizer(self, robot_name, hand_type):
         config_path = get_default_config_path(robot_name, RetargetingType.vector, hand_type)
-
-        if not config_path.exists():
-            print(f"Skip the test for {robot_name.name} as the config file does not exist.")
+        if config_path is None:
             return
 
         # Note: The parameters below are adjusted solely for this test
@@ -166,9 +160,7 @@ def test_vector_optimizer(self, robot_name, hand_type):
     @pytest.mark.parametrize("hand_type", [name for name in HandType])
     def test_dexpilot_optimizer(self, robot_name, hand_type):
         config_path = get_default_config_path(robot_name, RetargetingType.dexpilot, hand_type)
-
-        if not config_path.exists():
-            print(f"Skip the test for {robot_name.name} as the config file does not exist.")
+        if config_path is None:
             return
 
         # Note: The parameters below are adjusted solely for this test