Merge pull request #592 from squarefk/fix-fourier-hands

Match the orientation of the fourier hands with the inspire hands
ARISE-Initiative · Dec 17, 2024 · b954444 · b954444
2 parents 8f64e15 + a682cf1
commit b954444
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/robosuite/models/assets/grippers/fourier_left_hand.xml b/robosuite/models/assets/grippers/fourier_left_hand.xml
@@ -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.">
@@ -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"/>
@@ -171,6 +172,7 @@
         </body>
         <!-- End of Pinky finger -->
       </body>
+      </body>
       <!-- End of Palm -->
     </body>
   </worldbody>

diff --git a/robosuite/models/assets/grippers/fourier_right_hand.xml b/robosuite/models/assets/grippers/fourier_right_hand.xml
@@ -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.">
@@ -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"/>
@@ -190,6 +191,7 @@
         </body>
         <!-- End of Pinky -->
       </body>
+      </body>
       <!-- End of Palm -->
     </body>
   </worldbody>