Remove tuck/untuck for Franka

StanfordVL · Oct 16, 2023 · e5ba3db · e5ba3db
1 parent f00ad62
commit e5ba3db
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Showing 2 changed files with 3 additions and 47 deletions.
diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
@@ -5,12 +5,6 @@
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 
 
-RESET_JOINT_OPTIONS = {
-    "tuck",
-    "untuck",
-}
-
-
 class FrankaPanda(ManipulationRobot):
     """
     The Franka Emika Panda robot
@@ -97,15 +91,6 @@ def __init__(
             kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                 for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
         """
-        # Parse reset joint pos if specifying special string
-        if isinstance(reset_joint_pos, str):
-            assert (
-                reset_joint_pos in RESET_JOINT_OPTIONS
-            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
-            reset_joint_pos = (
-                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
-            )
-
         # Run super init
         super().__init__(
             prim_path=prim_path,
@@ -135,14 +120,6 @@ def __init__(
     def model_name(self):
         return "FrankaPanda"
 
-    @property
-    def tucked_default_joint_pos(self):
-        return np.zeros(9)
-
-    @property
-    def untucked_default_joint_pos(self):
-        return np.array([0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75, 0.00, 0.00])
-
     @property
     def discrete_action_list(self):
         # Not supported for this robot
@@ -181,7 +158,7 @@ def _default_controllers(self):
 
     @property
     def default_joint_pos(self):
-        return self.untucked_default_joint_pos
+        return np.array([0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75, 0.00, 0.00])
 
     @property
     def finger_lengths(self):

diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
@@ -4,11 +4,6 @@
 from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 
-RESET_JOINT_OPTIONS = {
-    "tuck",
-    "untuck",
-}
-
 
 class FrankaAllegro(ManipulationRobot):
     """
@@ -96,14 +91,6 @@ def __init__(
             kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                 for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
         """
-        # Parse reset joint pos if specifying special string
-        if isinstance(reset_joint_pos, str):
-            assert (
-                reset_joint_pos in RESET_JOINT_OPTIONS
-            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
-            reset_joint_pos = (
-                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
-            )
 
         # Run super init
         super().__init__(
@@ -134,15 +121,6 @@ def __init__(
     def model_name(self):
         return "FrankaAllegro"
 
-    @property
-    def tucked_default_joint_pos(self):
-        return np.zeros(23)
-
-    @property
-    def untucked_default_joint_pos(self):
-        # position where the hand is parallel to the ground
-        return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
-
     @property
     def discrete_action_list(self):
         # Not supported for this robot
@@ -187,7 +165,8 @@ def _default_controllers(self):
 
     @property
     def default_joint_pos(self):
-        return self.untucked_default_joint_pos
+        # position where the hand is parallel to the ground
+        return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
 
     @property
     def finger_lengths(self):