[add] add panda gripper config for teleop retargeting

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())