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..758686ba98 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..ce237c9849 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..fb8083dc20 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..e3a76c72b5 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"/> - + + + + + diff --git a/robosuite/models/robots/compositional.py b/robosuite/models/robots/compositional.py index e8bc153e69..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]}