[init] init

.github/workflows/test.yml

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+name: Core Tests
+
+on:
+  push:
+    branches: [ main, init_dev ]
+  pull_request:
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [ "3.7", "3.8", "3.9", "3.10" ]
+
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install --upgrade -e .[dev]
+      - name: Run Black
+        run: |
+          black dex-retargeting/ tests/ --check
+      - name: Run Pyright
+        run: |
+          pyright
+      - name: Test with pytest
+        run: |
+          pytest

.gitignore

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+build
+.vscode
+.pyc
+*.blend
+cmake-build-debug
+/cmake-build-debug/
+/.ccls-cache/
+/.dir-locals.el
+__pycache__
+.ini
+*.convex.*
+imgui.ini
+.mypy_cache
+.DS_Store
+/.idea
+/log

.gitmodules

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+[submodule "assets"]
+	path = assets
+	url = https://github.com/dexsuite/dex-urdf.git
+	branch = init_dev

LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2023 Yuzhe Qin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+Dex Retargeting
+---
+<p align="center">
+    <!-- code check badges -->
+    <!-- license badge -->
+    <a href="https://github.com/nerfstudio-project/nerfstudio/blob/master/LICENSE">
+        <img alt="License" src="https://img.shields.io/badge/license-MIT-blue">
+    </a>
+</p>

dex_retargeting/__init__.py

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+__version__ = "0.0.1"

dex_retargeting/configs/offline/allegro_hand_right.yml

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+retargeting:
+  type: position
+  urdf_path: allegro_hand/allegro_hand_right.urdf
+  use_camera_frame_retargeting: False
+
+  target_joint_names: null
+  target_link_names: [ "link_15.0_tip", "link_3.0_tip", "link_7.0_tip", "link_11.0_tip" ]
+
+  target_link_human_indices: [ 4, 8, 12, 16 ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

dex_retargeting/configs/teleop/allegro_hand_left.yml

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+retargeting:
+  type: vector
+  urdf_path: allegro_hand/allegro_hand_left.urdf
+  use_camera_frame_retargeting: False
+
+  # 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

dex_retargeting/configs/teleop/allegro_hand_right.yml

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+retargeting:
+  type: vector
+  urdf_path: allegro_hand/allegro_hand_right.urdf
+  use_camera_frame_retargeting: False
+
+  # 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

dex_retargeting/configs/teleop/allegro_hand_right_dexpilot.yml

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+retargeting:
+  type: DexPilot
+  urdf_path: allegro_hand/allegro_hand_right.urdf
+  use_camera_frame_retargeting: False
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  wrist_link_name: "wrist"
+  finger_tip_link_names: [ "link_15.0_tip", "link_3.0_tip", "link_7.0_tip", "link_11.0_tip" ]
+  scaling_factor: 1.6
+
+  # 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_right.yml

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+retargeting:
+  type: vector
+  urdf_path: schunk_hand/schunk_svh_hand_right.urdf
+  use_camera_frame_retargeting: False
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  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: 1.1
+
+  # 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/shadow_hand_right.yml

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+retargeting:
+  type: vector
+  urdf_path: shadow_hand/shadow_hand_right.urdf
+  use_camera_frame_retargeting: False
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "palm", "palm", "palm", "palm", "palm", "palm", "palm", "palm", "palm", "palm" ]
+  target_task_link_names: [ "thtip", "fftip", "mftip", "rftip", "lftip",  "thmiddle", "ffmiddle", "mfmiddle", "rfmiddle", "lfmiddle" ]
+  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, 0, 0, 0, 0, 0 ], [ 4, 8, 12, 16, 20, 2, 6, 10, 14, 18 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2