Fix bugs

StanfordVL · Nov 28, 2023 · bedd859 · bedd859
1 parent 65c5e5e
commit bedd859
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/omnigibson/robots/franka_leap.py b/omnigibson/robots/franka_leap.py
@@ -179,11 +179,11 @@ def arm_joint_names(self):
 
     @property
     def eef_link_names(self):
-        return {self.default_arm: "palm_lower"}
+        return {self.default_arm: "palm_center"}
 
     @property
     def finger_link_names(self):
-        links = ["mcp_joint", "pip", "dip", "fingertip"]
+        links = ["mcp_joint", "pip", "dip", "fingertip", "realtip"]
         return {self.default_arm: [f"{link}_{i}" for i in range(1, 5) for link in links]}
 
     @property
@@ -205,7 +205,7 @@ def urdf_path(self):
 
     @property
     def vr_rotation_offset(self):
-        return {self.default_arm: T.euler2quat(np.array([0, np.pi / 2, 0]))}
+        return {self.default_arm: T.euler2quat(np.array([0, np.pi, np.pi / 2]))}
 
     def gen_action_from_vr_data(self, vr_data: dict):
         action = np.zeros(22)

diff --git a/omnigibson/utils/xr_utils.py b/omnigibson/utils/xr_utils.py
@@ -1,13 +1,17 @@
 import carb
 import numpy as np
-from omni.kit.xr.core import XRCore, XRDeviceClass, XRCoreEventType
-from omni.kit.xr.ui.stage.common import XRAvatarManager
 from typing import Iterable, List, Optional, Tuple
 
 import omnigibson as og
 import omnigibson.utils.transform_utils as T
 from omnigibson.robots.robot_base import BaseRobot
 
+# enable xr extension
+from omni.isaac.core.utils.extensions import enable_extension
+enable_extension("omni.kit.xr.profile.vr")
+from omni.kit.xr.core import XRCore, XRDeviceClass, XRCoreEventType
+from omni.kit.xr.ui.stage.common import XRAvatarManager
+
 class VRSys():
     def __init__(
         self, 
@@ -33,9 +37,6 @@ def __init__(
         NOTE: enable_touchpad_movement and align_anchor_to_robot_base cannot be enabled at the same time. 
             The former is to enable free movement of the VR system (i.e. the user), while the latter is constraining the VR system to the robot pose.
         """
-        # enable xr extension
-        from omni.isaac.core.utils.extensions import enable_extension
-        enable_extension("omni.kit.xr.profile.vr")
         # get xr core and profile
         self.xr_core = XRCore.get_singleton()
         self.vr_profile = self.xr_core.get_profile("vr")