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Fix Jaco gripper force/torque sensor readings #821

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Fix Jaco gripper force/torque sensor readings #821

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4 changes: 2 additions & 2 deletions robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -51,14 +51,14 @@
<!-- Note: This model is a tendon-driven variation of the model found at https://github.com/abr/abr_control/blob/master/abr_control/arms/jaco2/jaco2.xml -->
<body name="right_gripper" pos="0 0 0">
<inertial pos="0 0 0" mass="1e-6" diaginertia="1e-08 1e-08 1e-08" />
<!-- Measure the complete gripper subtree from its mounting body. -->
<site name="ft_frame" pos="0 0 0" quat="0 -1 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
<body name="palm" pos="0 0 0" quat="0 -1 0 0">
<inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" />
<geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_hand" name="hand_visual" mesh="hand_3finger" />
<geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_hand" name="hand_ring_visual" mesh="ring_small" />
<geom type="mesh" group="0" material="carbon_hand" mesh="hand_3finger" name="hand_collision" />

<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />

<!-- This site was added for visualization. -->
<body name="eef" pos="0 0 -0.1775" quat="0 0.707105 0.707108 0 ">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
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32 changes: 32 additions & 0 deletions tests/test_grippers/test_jaco_sensors.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
"""Regression tests for the Jaco three-finger gripper sensors."""

from pathlib import Path

import mujoco
import numpy as np


ASSET_PATH = (
Path(__file__).parents[2] / "robosuite" / "models" / "assets" / "grippers" / "jaco_three_finger_gripper.xml"
)


def test_force_torque_sensors_are_well_conditioned():
model = mujoco.MjModel.from_xml_path(str(ASSET_PATH))
data = mujoco.MjData(model)
mujoco.mj_resetData(model, data)
mujoco.mj_forward(model, data)

readings = []
for name in ("force_ee", "torque_ee"):
sensor_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, name)
site_id = model.sensor_objid[sensor_id]
site_body_id = model.site_bodyid[site_id]
assert mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, site_body_id) == "right_gripper"

start = model.sensor_adr[sensor_id]
readings.append(data.sensordata[start : start + model.sensor_dim[sensor_id]])

readings = np.concatenate(readings)
assert np.all(np.isfinite(readings))
assert np.max(np.abs(readings)) < 1e3