Update Frankas

StanfordVL · Nov 21, 2023 · c28a7d3 · c28a7d3
1 parent e2295a4
commit c28a7d3
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Showing 2 changed files with 4 additions and 12 deletions.
diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
@@ -201,10 +201,6 @@ def robot_arm_descriptor_yamls(self):
     def urdf_path(self):
         return os.path.join(gm.ASSET_PATH, "models/franka/franka_allegro.urdf")
 
-    @property
-    def eef_urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/allegro_hand.urdf")
-
     @property
     def disabled_collision_pairs(self):
         return [

diff --git a/omnigibson/robots/franka_leap.py b/omnigibson/robots/franka_leap.py
@@ -193,19 +193,15 @@ def finger_joint_names(self):
 
     @property
     def usd_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda_leap.usd")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_leap.usd")
 
     @property
     def robot_arm_descriptor_yamls(self):
         return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka/franka_leap_description.yaml")}
 
     @property
     def urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda_leap.urdf")
-
-    @property
-    def gripper_urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/leap_hand.urdf")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_leap.urdf")
 
     @property
     def vr_rotation_offset(self):
@@ -229,12 +225,12 @@ def model_name(self):
 
     @property
     def usd_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda_leap_left.usd")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_leap_left.usd")
 
     @property
     def robot_arm_descriptor_yamls(self):
         return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka/franka_leap_description.yaml")}
 
     @property
     def urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda_leap_left.urdf")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_leap_left.urdf")