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Standardizing End-Effector Frame Conventions for Robot-Gripper Compatibility #625

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Standardizing End-Effector Frame Conventions for Robot-Gripper Compatibility #625

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fc6ccbc
[fix] fix orientations for all robots & grippers & hands to make them…
Dingry Jan 23, 2025
6fbf2de
[fix] fix PandaDexRH
Dingry Jan 23, 2025
0d77463
[fix] fix hand orientation
Dingry Jan 23, 2025
6b40a40
[fix] fix grip_site_cylinder size for fourier right hand
Dingry Jan 23, 2025
284ee4b
[fix] fix ee_z visibility for Inspire left hand
Dingry Jan 23, 2025
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4 changes: 2 additions & 2 deletions robosuite/models/assets/grippers/bd_gripper.xml
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Expand Up @@ -44,11 +44,11 @@
</default>

<worldbody>
<body name="right_gripper" pos="0 0 0" quat="1 0 0 0">
<body name="right_gripper" pos="0 0 -0.05" quat="0 0.707107 0 0.707107">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
<inertial pos="0 0 0.0" quat="0.707107 0.707107 0 0" mass="0.3" diaginertia="0.09 0.07 0.05" />
<!-- This site was added for visualization. -->
<body name="eef" pos="0 0 0.0" quat="0.707 0. -0.707 0.">
<body name="eef" pos="0.2 0 0" quat="0.5 0.5 0.5 0.5">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 0.5" type="sphere" group="1"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
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6 changes: 3 additions & 3 deletions robosuite/models/assets/grippers/fourier_left_hand.xml
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Expand Up @@ -65,16 +65,16 @@
</asset>

<worldbody>
<body name="left_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<body name="left_hand" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="1"/>
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
<body name="eef" pos="0 0 0" quat="0.707 0. -0.707 0.">
<body name="eef" pos="0 0 0" quat="0.707107 0.707107 0 0">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="2"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This site was added for visualization. -->
<site name="grip_site_cylinder" pos="0 0 0" quat="-0.5 -0.5 -0.5 0.5" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
<site name="grip_site_cylinder" pos="0 0 0" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
</body>

<!-- Palm -->
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6 changes: 3 additions & 3 deletions robosuite/models/assets/grippers/fourier_right_hand.xml
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Expand Up @@ -78,16 +78,16 @@
</asset>

<worldbody>
<body name="right_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<body name="right_hand" pos="0 0 0" quat="0.5 -0.5 -0.5 0.5">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="1"/>
<!-- <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/> -->
<body name="eef" pos="0 0 0" quat="0.707 0. -0.707 0.">
<body name="eef" pos="0 0 0" quat="0.707107 0.707107 0 0">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="2"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This site was added for visualization. -->
<site name="grip_site_cylinder" pos="0 0 0" quat="-0.5 -0.5 -0.5 0.5" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
<site name="grip_site_cylinder" pos="0 0 0" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
</body>

<!-- Palm -->
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8 changes: 4 additions & 4 deletions robosuite/models/assets/grippers/inspire_left_hand.xml
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Expand Up @@ -75,16 +75,16 @@
</asset>

<worldbody>
<body name="left_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<body name="left_hand" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="1"/>
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
<body name="eef" pos="0 0 0" quat="0.707 0. -0.707 0.">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="2"/>
<body name="eef" pos="0 0 0" quat="0.707107 0.707107 0 0">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 0" type="sphere" group="2"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This site was added for visualization. -->
<site name="grip_site_cylinder" pos="0 0 0" quat="-0.5 -0.5 -0.5 0.5" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
<site name="grip_site_cylinder" pos="0 0 0" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
</body>


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6 changes: 3 additions & 3 deletions robosuite/models/assets/grippers/inspire_right_hand.xml
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Expand Up @@ -72,16 +72,16 @@
</asset>

<worldbody>
<body name="right_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<body name="right_hand" pos="0 0 0" quat="0.5 -0.5 -0.5 0.5">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="1"/>
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
<body name="eef" pos="0 0 0" quat="0.707 0. -0.707 0.">
<body name="eef" pos="0 0 0" quat="0.707107 0.707107 0 0">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="2"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This site was added for visualization. -->
<site name="grip_site_cylinder" pos="0 0 0" quat="-0.5 -0.5 -0.5 0.5" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
<site name="grip_site_cylinder" pos="0 0 0" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/>
</body>


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15 changes: 12 additions & 3 deletions robosuite/models/assets/robots/gr1/robot.xml
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Expand Up @@ -139,9 +139,13 @@
<site name="r_wrist_site" pos="0 0 0" size="0.03 0.03 0.03" rgba="1 0 0 0" type="sphere" group="1" />
<inertial pos="0.0060733 0.0018907 -0.084578" quat="0.647336 -0.27161 -0.257721 0.6639" mass="0.53221" diaginertia="0.000319947 0.000196296 0.000182477" />
<joint name="r_wrist_pitch" pos="0 0 0" axis="0.0 1.0 0.0" range="-1.5 1.5" />
<body name="right_eef" pos="0 0 0" quat="-0.707107 0 0 0.707107">

<body name="right_eef" pos="0 0 0" quat="0 1 0 0">

<!-- These sites were added for visualization. -->
<site name="right_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="right_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="right_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>

<body name="right_mount" quat="0 0 1 0" />
<body name="right_hand_eef" pos="0 0 0" />
<camera mode="fixed" name="eye_in_right_hand" pos="-0.05 0.15 0.0" quat="0.965926 -0.258819 0.000000 0.000000" fovy="75" />
Expand Down Expand Up @@ -192,7 +196,12 @@
<joint name="l_wrist_pitch" pos="0 0 0" axis="0.0 1.0 0.0" range="-1.5 1.5" />
<site name="l_wrist_site" pos="0 0 0" size="0.03 0.03 0.03" rgba="1 0 0 0" type="sphere" group="1" />
<inertial pos="0.0071289 -0.0026192 -0.078567" quat="0.298548 0.646339 0.631172 0.307795" mass="0.5239" diaginertia="0.000345825 0.000211684 0.000195941" />
<body name="left_eef" pos="0 0 0" quat="0.707107 0 0 0.707107">
<body name="left_eef" pos="0 0 0" quat="0 1 0 0">
<!-- These sites were added for visualization. -->
<site name="left_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="left_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="left_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>

<site name="left_eef_site" pos="0 0 0" size="0.01" rgba="1 0.3 0.3 1" group="2" />
<body name="left_mount" quat="0 0 1 0" />
<body name="left_hand_eefd" pos="0 0 0" />
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4 changes: 4 additions & 0 deletions robosuite/models/assets/robots/panda/robot.xml
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Expand Up @@ -220,6 +220,10 @@
<geom type="mesh" group="0" mesh="link7" name="link7_collision"/>
<body name="right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
<inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05"/>
<!-- These sites were added for visualization. -->
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This camera points out from the eef. -->
<camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
<!-- to add gripper -->
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6 changes: 5 additions & 1 deletion robosuite/models/assets/robots/spot_arm/robot.xml
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Expand Up @@ -94,7 +94,11 @@
diaginertia="0.00176281 0.00168181 0.000767414"/>
<joint name="arm_wr1" axis="1 0 0" range="-2.87979 2.87979"/>
<!--Start of right_hand-->
<body name="right_hand" pos="0.0 0.0 0.0" quat="1 0 0 0">
<body name="right_hand" pos="0.05 0.0 0.0" quat="0 0.707107 0 0.707107">
<!-- These sites are used for visualization only -->
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<camera mode="fixed" name="right_eye_in_hand" pos="0.05 0 0" quat="0.5 0.5 -0.5 -0.5" fovy="75"/>
</body>
</body>
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24 changes: 12 additions & 12 deletions robosuite/models/robots/compositional.py
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Expand Up @@ -81,24 +81,24 @@ 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):
@property
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]}
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