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Match the orientation of the fourier hands with the inspire hands #592

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merged 1 commit into from
Dec 17, 2024
Merged

Match the orientation of the fourier hands with the inspire hands #592

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4 changes: 3 additions & 1 deletion robosuite/models/assets/grippers/fourier_left_hand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@
</asset>

<worldbody>
<body name="left_hand" pos="0 0 0" quat="0.7071068 0 0 -0.7071068">
<body name="left_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<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.">
Expand All @@ -78,6 +78,7 @@
</body>

<!-- Palm -->
<body quat="0.5 -0.5 -0.5 -0.5">
<body name="l_palm" pos="0 0 0">
<geom name="l_palm_vis" type="mesh" material="l_base_material" mesh="L_hand_base_link_vis" group="1" contype="0" conaffinity="0"/>
<geom name="l_palm_col" type="mesh" mass="0.1" mesh="L_hand_base_link_col"/>
Expand Down Expand Up @@ -171,6 +172,7 @@
</body>
<!-- End of Pinky finger -->
</body>
</body>
<!-- End of Palm -->
</body>
</worldbody>
Expand Down
4 changes: 3 additions & 1 deletion robosuite/models/assets/grippers/fourier_right_hand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@
</asset>

<worldbody>
<body name="right_hand" pos="0 0 0" quat="0.7071068 0 0 0.7071068">
<body name="right_hand" pos="0 0 0" quat="0.7071068 0.7071068 0 0">
<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.">
Expand All @@ -91,6 +91,7 @@
</body>

<!-- Palm -->
<body quat="0.5 -0.5 0.5 0.5">
<body name="r_palm" pos="0 0 0">
<geom name="r_palm_vis" type="mesh" material="r_base_material" mesh="R_hand_base_link_vis" group="1" contype="0" conaffinity="0"/>
<geom name="r_palm_col" type="mesh" mass="0.5" mesh="R_hand_base_link_col"/>
Expand Down Expand Up @@ -190,6 +191,7 @@
</body>
<!-- End of Pinky -->
</body>
</body>
<!-- End of Palm -->
</body>
</worldbody>
Expand Down
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