BDGripper Bug

[clin-nexera]

System Info

1.5, Windows

Package              Version      Editable project location
-------------------- ------------ ------------------------------------
absl-py              2.1.0
cloudpickle          3.1.0
colorama             0.4.6
etils                1.11.0
Farama-Notifications 0.0.4
fsspec               2024.10.0
glfw                 2.8.0
gymnasium            1.0.0
h5py                 3.12.1
hidapi               0.14.0.post4
importlib_resources  6.4.5
iniconfig            2.0.0
llvmlite             0.43.0
mink                 0.0.5
mujoco               3.1.1
numba                0.60.0
numpy                1.26.4
opencv-python        4.10.0.84
packaging            24.2
pillow               11.0.0
pip                  24.0
pluggy               1.5.0
pynput               1.7.7
PyOpenGL             3.1.7
pytest               8.3.4
qpsolvers            4.4.0
quadprog             0.1.13
robosuite            1.5.0        C:\Users\linca\Code\robosuite-master
robosuite_models     1.0.0
scipy                1.14.1
setuptools           65.5.0
six                  1.17.0
termcolor            2.5.0
typing_extensions    4.12.2
zipp                 3.21.0

Information

Problem arises when running the demo_gripper_selection.py script.

An error occured with BDGripper
I also tried the hand grippers and the hands look like they're in the wrong orientation.
Another error occured with Using gripper SchunkSvhLeftHand...

Using gripper BDGripper...
[robosuite INFO] Loading controller configuration from: C:\Users\linca\Code\robosuite-master\robosuite\controllers\config\robots\default_panda.json (composite_controller_factory.py:121)
Traceback (most recent call last):
  File "C:\Users\linca\Code\robosuite-master\robosuite\demos\demo_gripper_selection.py", line 22, in <module>
    env = suite.make(
          ^^^^^^^^^^^
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\base.py", line 41, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\manipulation\lift.py", line 187, in __init__
    super().__init__(
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\manipulation\manipulation_env.py", line 171, in __init__
    super().__init__(
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\robot_env.py", line 221, in __init__
    super().__init__(
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\base.py", line 144, in __init__
    self._load_model()
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\manipulation\lift.py", line 270, in _load_model
    super()._load_model()
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\robot_env.py", line 314, in _load_model
    self._load_robots()
  File "C:\Users\linca\Code\robosuite-master\robosuite\environments\robot_env.py", line 601, in _load_robots
    self.robots[idx].load_model()
  File "C:\Users\linca\Code\robosuite-master\robosuite\robots\fixed_base_robot.py", line 67, in load_model
    super().load_model()
  File "C:\Users\linca\Code\robosuite-master\robosuite\robots\robot.py", line 223, in load_model
    self.robot_model.set_mujoco_model()
  File "C:\Users\linca\Code\robosuite-master\robosuite\models\robots\robot_model.py", line 87, in set_mujoco_model
    self.mujoco_model = self.get_model()
                        ^^^^^^^^^^^^^^^^
  File "C:\Users\linca\Code\robosuite-master\robosuite\models\base.py", line 145, in get_model
    model = mujoco.MjModel.from_xml_string(string.getvalue())
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: Error: faces of mesh 'gripper0_right_arm_link_wr1_0' have inconsistent orientation. Please check the faces containing the vertices 697 and 607.
Object name = gripper0_right_arm_link_wr1_0, id = 59, line = 134, column = -1

Reproduction

1. Clone repo via zip file (I couldn't get git clone to work, it kept getting stuck)
2. pip install requirements.txt and requirements-extra.txt
3. Run demo_gripper_selection.py

Expected behavior

For all possible gripper models to load without error.