From fc6ccbc91f81e1447ad4c8e075a08feda50023fe Mon Sep 17 00:00:00 2001 From: Dingry Date: Wed, 22 Jan 2025 18:48:30 -0800 Subject: [PATCH 1/5] [fix] fix orientations for all robots & grippers & hands to make them compatible --- robosuite/models/assets/grippers/bd_gripper.xml | 4 ++-- .../models/assets/grippers/fourier_left_hand.xml | 6 +++--- .../models/assets/grippers/fourier_right_hand.xml | 6 +++--- .../models/assets/grippers/inspire_left_hand.xml | 6 +++--- .../models/assets/grippers/inspire_right_hand.xml | 6 +++--- robosuite/models/assets/robots/gr1/robot.xml | 15 ++++++++++++--- robosuite/models/assets/robots/panda/robot.xml | 4 ++++ robosuite/models/assets/robots/spot_arm/robot.xml | 6 +++++- 8 files changed, 35 insertions(+), 18 deletions(-) diff --git a/robosuite/models/assets/grippers/bd_gripper.xml b/robosuite/models/assets/grippers/bd_gripper.xml index 7f9ea71186..bbade85a2e 100644 --- a/robosuite/models/assets/grippers/bd_gripper.xml +++ b/robosuite/models/assets/grippers/bd_gripper.xml @@ -44,11 +44,11 @@ - + - + diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml index 3b2c36041d..42b89931ef 100644 --- a/robosuite/models/assets/grippers/fourier_left_hand.xml +++ b/robosuite/models/assets/grippers/fourier_left_hand.xml @@ -65,16 +65,16 @@ - + - + - + diff --git a/robosuite/models/assets/grippers/fourier_right_hand.xml b/robosuite/models/assets/grippers/fourier_right_hand.xml index b1529c4fa1..bb1e096f47 100644 --- a/robosuite/models/assets/grippers/fourier_right_hand.xml +++ b/robosuite/models/assets/grippers/fourier_right_hand.xml @@ -78,16 +78,16 @@ - + - + - + diff --git a/robosuite/models/assets/grippers/inspire_left_hand.xml b/robosuite/models/assets/grippers/inspire_left_hand.xml index e232285fdd..723df89ba4 100644 --- a/robosuite/models/assets/grippers/inspire_left_hand.xml +++ b/robosuite/models/assets/grippers/inspire_left_hand.xml @@ -75,16 +75,16 @@ - + - + - + diff --git a/robosuite/models/assets/grippers/inspire_right_hand.xml b/robosuite/models/assets/grippers/inspire_right_hand.xml index a508a3f566..59571476ab 100644 --- a/robosuite/models/assets/grippers/inspire_right_hand.xml +++ b/robosuite/models/assets/grippers/inspire_right_hand.xml @@ -72,16 +72,16 @@ - + - + - + diff --git a/robosuite/models/assets/robots/gr1/robot.xml b/robosuite/models/assets/robots/gr1/robot.xml index 098b05f9c0..c99e125c6f 100644 --- a/robosuite/models/assets/robots/gr1/robot.xml +++ b/robosuite/models/assets/robots/gr1/robot.xml @@ -139,9 +139,13 @@ - - + + + + + + @@ -192,7 +196,12 @@ - + + + + + + diff --git a/robosuite/models/assets/robots/panda/robot.xml b/robosuite/models/assets/robots/panda/robot.xml index 369cd41661..2f43e6e5a7 100644 --- a/robosuite/models/assets/robots/panda/robot.xml +++ b/robosuite/models/assets/robots/panda/robot.xml @@ -220,6 +220,10 @@ + + + + diff --git a/robosuite/models/assets/robots/spot_arm/robot.xml b/robosuite/models/assets/robots/spot_arm/robot.xml index 5468be6da4..26b84dd05f 100644 --- a/robosuite/models/assets/robots/spot_arm/robot.xml +++ b/robosuite/models/assets/robots/spot_arm/robot.xml @@ -94,7 +94,11 @@ diaginertia="0.00176281 0.00168181 0.000767414"/> - + + + + + From 6fbf2de92578bcba60c0e555fc09f55626695bd2 Mon Sep 17 00:00:00 2001 From: Dingry Date: Wed, 22 Jan 2025 18:49:08 -0800 Subject: [PATCH 2/5] [fix] fix PandaDexRH --- robosuite/models/robots/compositional.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robosuite/models/robots/compositional.py b/robosuite/models/robots/compositional.py index e8bc153e69..391c2d01ac 100644 --- a/robosuite/models/robots/compositional.py +++ b/robosuite/models/robots/compositional.py @@ -87,7 +87,7 @@ def gripper_mount_pos_offset(self): @property def gripper_mount_quat_offset(self): - return {"right": [-0.5, 0.5, 0.5, -0.5]} + return {"right": [0.5, -0.5, -0.5, 0.5]} class PandaDexLH(Panda): From 0d77463394448fad7c838f5ba2bbc3aa782dffac Mon Sep 17 00:00:00 2001 From: Dingry Date: Wed, 22 Jan 2025 21:58:26 -0800 Subject: [PATCH 3/5] [fix] fix hand orientation --- .../assets/grippers/fourier_left_hand.xml | 4 ++-- .../assets/grippers/fourier_right_hand.xml | 4 ++-- .../assets/grippers/inspire_left_hand.xml | 8 +++---- .../assets/grippers/inspire_right_hand.xml | 4 ++-- robosuite/models/robots/compositional.py | 24 +++++++++---------- 5 files changed, 22 insertions(+), 22 deletions(-) diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml index 42b89931ef..15ca23c393 100644 --- a/robosuite/models/assets/grippers/fourier_left_hand.xml +++ b/robosuite/models/assets/grippers/fourier_left_hand.xml @@ -65,10 +65,10 @@ - + - + diff --git a/robosuite/models/assets/grippers/fourier_right_hand.xml b/robosuite/models/assets/grippers/fourier_right_hand.xml index bb1e096f47..ce237c9849 100644 --- a/robosuite/models/assets/grippers/fourier_right_hand.xml +++ b/robosuite/models/assets/grippers/fourier_right_hand.xml @@ -78,10 +78,10 @@ - + - + diff --git a/robosuite/models/assets/grippers/inspire_left_hand.xml b/robosuite/models/assets/grippers/inspire_left_hand.xml index 723df89ba4..572de34dfc 100644 --- a/robosuite/models/assets/grippers/inspire_left_hand.xml +++ b/robosuite/models/assets/grippers/inspire_left_hand.xml @@ -75,14 +75,14 @@ - + - - + + - + diff --git a/robosuite/models/assets/grippers/inspire_right_hand.xml b/robosuite/models/assets/grippers/inspire_right_hand.xml index 59571476ab..e3a76c72b5 100644 --- a/robosuite/models/assets/grippers/inspire_right_hand.xml +++ b/robosuite/models/assets/grippers/inspire_right_hand.xml @@ -72,10 +72,10 @@ - + - + diff --git a/robosuite/models/robots/compositional.py b/robosuite/models/robots/compositional.py index 391c2d01ac..95908111d0 100644 --- a/robosuite/models/robots/compositional.py +++ b/robosuite/models/robots/compositional.py @@ -81,13 +81,13 @@ class PandaDexRH(Panda): def default_gripper(self): return {"right": "InspireRightHand"} - @property - def gripper_mount_pos_offset(self): - return {"right": [0.0, 0.0, 0.0]} + # @property + # def gripper_mount_pos_offset(self): + # return {"right": [0.0, 0.0, 0.0]} - @property - def gripper_mount_quat_offset(self): - return {"right": [0.5, -0.5, -0.5, 0.5]} + # @property + # def gripper_mount_quat_offset(self): + # return {"right": [0.5, -0.5, -0.5, 0.5]} class PandaDexLH(Panda): @@ -95,10 +95,10 @@ class PandaDexLH(Panda): def default_gripper(self): return {"right": "InspireLeftHand"} - @property - def gripper_mount_pos_offset(self): - return {"right": [0.0, 0.0, 0.0]} + # @property + # def gripper_mount_pos_offset(self): + # return {"right": [0.0, 0.0, 0.0]} - @property - def gripper_mount_quat_offset(self): - return {"right": [0.5, -0.5, 0.5, -0.5]} + # @property + # def gripper_mount_quat_offset(self): + # return {"right": [0.5, -0.5, 0.5, -0.5]} From 6b40a40788fd93a5f472f85f327debe37ce4bb48 Mon Sep 17 00:00:00 2001 From: Dingry Date: Wed, 22 Jan 2025 22:41:21 -0800 Subject: [PATCH 4/5] [fix] fix grip_site_cylinder size for fourier right hand --- robosuite/models/assets/grippers/fourier_left_hand.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml index 15ca23c393..758686ba98 100644 --- a/robosuite/models/assets/grippers/fourier_left_hand.xml +++ b/robosuite/models/assets/grippers/fourier_left_hand.xml @@ -74,7 +74,7 @@ - + From 284ee4bdadf71d8fe0be505a58d89b111fa123ef Mon Sep 17 00:00:00 2001 From: Dingry Date: Wed, 22 Jan 2025 23:27:30 -0800 Subject: [PATCH 5/5] [fix] fix ee_z visibility for Inspire left hand --- robosuite/models/assets/grippers/inspire_left_hand.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robosuite/models/assets/grippers/inspire_left_hand.xml b/robosuite/models/assets/grippers/inspire_left_hand.xml index 572de34dfc..fb8083dc20 100644 --- a/robosuite/models/assets/grippers/inspire_left_hand.xml +++ b/robosuite/models/assets/grippers/inspire_left_hand.xml @@ -82,7 +82,7 @@ - +