From d323b91f045c483617bc0b07f3c77ed7e49c600f Mon Sep 17 00:00:00 2001 From: yuqix Date: Tue, 21 Jan 2025 19:11:53 -0600 Subject: [PATCH] fix the mounting direction of dex hand for panda robot --- robosuite/models/robots/compositional.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/robosuite/models/robots/compositional.py b/robosuite/models/robots/compositional.py index de6cf6c90a..e8bc153e69 100644 --- a/robosuite/models/robots/compositional.py +++ b/robosuite/models/robots/compositional.py @@ -87,7 +87,7 @@ def gripper_mount_pos_offset(self): @property def gripper_mount_quat_offset(self): - return {"right": [0.5, -0.5, 0.5, 0.5]} + return {"right": [-0.5, 0.5, 0.5, -0.5]} class PandaDexLH(Panda): @@ -101,4 +101,4 @@ def gripper_mount_pos_offset(self): @property def gripper_mount_quat_offset(self): - return {"right": [0.5, -0.5, 0.5, 0.5]} + return {"right": [0.5, -0.5, 0.5, -0.5]}