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DexMimicGen assets update #567

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merged 2 commits into from
Nov 22, 2024
Merged

DexMimicGen assets update #567

merged 2 commits into from
Nov 22, 2024

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xieleo5
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@xieleo5 xieleo5 commented Nov 20, 2024

Changes:

  • Add _latest_joint_position_actions in WholeBody composite controller class
  • Change the action order for inspire hands, now is from pinky to thumb
  • Add fourier hands as assets.

kevin-thankyou-lin
kevin-thankyou-lin requested changes Nov 21, 2024
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robosuite/controllers/composite/composite_controller.py Outdated
@@ -228,6 +228,8 @@ def __init__(self, sim: MjSim, robot_model: RobotModel, grippers: Dict[str, Grip
# task space actions (such as end effector poses) to joint actions (such as joint angles or joint torques)

self._whole_body_controller_action_split_indexes: OrderedDict = OrderedDict()
self._latest_all_joint_angle_action: Optional[np.ndarray] = None
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Can we move the joint angle action related code to some different robosuite branch? E.g. maybe v1.5-joint-actions. For this PR, maybe just have the asset/robot modifications?

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Removed, will create in another PR

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perfect

@xieleo5 xieleo5 changed the title Dex mimic gen assets and controller modification DexMimicGen assets and controller modification Nov 22, 2024
@xieleo5 xieleo5 changed the title DexMimicGen assets and controller modification DexMimicGen assets update Nov 22, 2024
@kevin-thankyou-lin kevin-thankyou-lin merged commit 02779c5 into ARISE-Initiative:master Nov 22, 2024
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@kevin-thankyou-lin kevin-thankyou-lin kevin-thankyou-lin approved these changes

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@xieleo5 @kevin-thankyou-lin