1. tuned arrow mesh drawing

2. centralixzed arrow config in layout.py
3. seperate mesh render and display resolution to speed up (~40 fps)

examples/viz/finger_mesh_viewer.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from orisys.finger.viewer import UVMeshViewer
 
-from .contact_arrow import ContactArrowOverlay, DEFAULT_NORMAL_FORCE_SCALE
+from .contact_arrow import ContactArrowOverlay, ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
 
 
 class FingerMeshViewer(UVMeshViewer):
@@ -21,7 +21,8 @@ class FingerMeshViewer(UVMeshViewer):
         value_max=None,
         window_width: int = 1024,
         window_height: int = 1024,
-        normal_force_scale: float = DEFAULT_NORMAL_FORCE_SCALE,
+        contact_arrow_style: ContactArrowStyle | None = None,
+        normal_force_scale: float | None = None,
         show_contact_arrow: bool = True,
     ):
         super().__init__(
@@ -36,6 +37,7 @@ class FingerMeshViewer(UVMeshViewer):
         )
         self._contact_arrow = ContactArrowOverlay(
             mesh,
+            style=contact_arrow_style or DEFAULT_CONTACT_ARROW_STYLE,
             normal_force_scale=normal_force_scale,
             enabled=show_contact_arrow,
         )