From 0d4f2358a104ac6e181ed84fccb7c621760917e4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?=
 <1408354+cgokmen@users.noreply.github.com>
Date: Wed, 27 Sep 2023 17:53:25 -0700
Subject: [PATCH] Make Tiago run OK on the GPU

---
 .../starter_semantic_action_primitives.py     | 10 --
 tests/test_symbolic_primitives.py             | 92 ++++++++++---------
 2 files changed, 50 insertions(+), 52 deletions(-)

diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py
index 3b50a512e..865e13816 100644
--- a/omnigibson/action_primitives/starter_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py
@@ -244,9 +244,6 @@ def __init__(self, task, scene, robot, add_context=False):
 
         self.robot_copy = self._load_robot_copy(robot)
 
-        if self.robot_model == "Tiago":
-            self._setup_tiago()
-
     def with_context(self, action):
         if not self.add_context:
             return action
@@ -266,13 +263,6 @@ def with_context(self, action):
         print(context)
         return action, context
 
-    # Disable grasping frame for Tiago robot (Should be cleaned up in the future)
-    def _setup_tiago(self):
-        for link in self.robot.links.values():
-            for mesh in link.collision_meshes.values():
-                if "grasping_frame" in link.prim_path:
-                    mesh.collision_enabled = False
-
     @staticmethod
     def _load_robot_copy(robot):
         robot_copy = RobotCopy()
diff --git a/tests/test_symbolic_primitives.py b/tests/test_symbolic_primitives.py
index c8f45f8a7..08353539a 100644
--- a/tests/test_symbolic_primitives.py
+++ b/tests/test_symbolic_primitives.py
@@ -27,49 +27,57 @@ def start_env():
     },
     "robots": [
       {
-        "type": "Fetch",
-        "obs_modalities": [
-          "scan",
-          "rgb",
-          "depth"
-        ],
-        "scale": 1,
-        "self_collisions": True,
-        "action_normalize": False,
-        "action_type": "continuous",
-        "grasping_mode": "sticky",
-        "disable_grasp_handling": True,
-        "rigid_trunk": False,
-        "default_trunk_offset": 0.365,
-        "default_arm_pose": "diagonal30",
-        "reset_joint_pos": "tuck",
-        "controller_config": {
-          "base": {
-            "name": "DifferentialDriveController"
-          },
-          "arm_0": {
-            "name": "JointController",
-            "motor_type": "position",
-            "command_input_limits": None,
-            "command_output_limits": None,
-            "use_delta_commands": False
-          },
-          "gripper_0": {
-            "name": "JointController",
-            "motor_type": "position",
-            "command_input_limits": [
-              -1,
-              1
-            ],
-            "command_output_limits": None,
-            "use_delta_commands": True,
-            "use_single_command": True
-          },
-          "camera": {
-            "name": "JointController",
-            "use_delta_commands": False
+          "type": "Tiago",
+          "obs_modalities": ["scan", "rgb", "depth"],
+          "scale": 1.0,
+          "self_collisions": True,
+          "action_normalize": False,
+          "action_type": "continuous",
+          "grasping_mode": "sticky",
+          "rigid_trunk": False,
+          "default_arm_pose": "diagonal30",
+          "default_trunk_offset": 0.365,
+          "controller_config": {
+              "base": {
+                  "name": "JointController",
+                  "motor_type": "velocity"
+              },
+              "arm_left": {
+                  "name": "JointController",
+                  "motor_type": "position",
+                  "command_input_limits": None,
+                  "command_output_limits": None, 
+                  "use_delta_commands": False
+              },
+              "arm_right": {
+                  "name": "JointController",
+                  "motor_type": "position",
+                  "command_input_limits": None,
+                  "command_output_limits": None, 
+                  "use_delta_commands": False
+              },
+              "gripper_left": {
+                  "name": "JointController",
+                  "motor_type": "position",
+                  "command_input_limits": [-1, 1],
+                  "command_output_limits": None,
+                  "use_delta_commands": True,
+                  "use_single_command": True
+              },
+              "gripper_right": {
+                  "name": "JointController",
+                  "motor_type": "position",
+                  "command_input_limits": [-1, 1],
+                  "command_output_limits": None,
+                  "use_delta_commands": True,
+                  "use_single_command": True
+              },
+              "camera": {
+                  "name": "JointController",
+                  "motor_type": "velocity",
+                  "use_delta_commands": False
+              }
           }
-        }
       }
     ],
     "objects": [