Update Robotiq gripper models 85 and 140

robosuite/models/grippers/gripper_tester.py

@@ -10,7 +10,7 @@
 from robosuite.models.objects import BoxObject
 from robosuite.models.world import MujocoWorldBase
 from robosuite.utils import OpenCVRenderer
-from robosuite.utils.binding_utils import MjSim
+from robosuite.utils.binding_utils import MjRenderContextOffscreen, MjSim
 from robosuite.utils.mjcf_utils import array_to_string, new_actuator, new_joint
 
 

robosuite/models/grippers/robotiq_140_gripper.py

@@ -24,7 +24,7 @@ def format_action(self, action):
 
     @property
     def init_qpos(self):
-        return np.array([0.012, 0.065, 0.065, -0.012, 0.065, 0.065])
+        return np.array([0, 0, 0, 0, 0, 0, 0, 0.0])
 
     @property
     def _important_geoms(self):
@@ -63,9 +63,7 @@ def format_action(self, action):
             AssertionError: [Invalid action dimension size]
         """
         assert len(action) == 1
-        self.current_action = np.clip(
-            self.current_action + np.array([1.0, -1.0]) * self.speed * np.sign(action), -1.0, 1.0
-        )
+        self.current_action = np.clip(self.current_action + self.speed * np.sign(action), -1.0, 1.0)
         return self.current_action
 
     @property

robosuite/models/grippers/robotiq_85_gripper.py

@@ -23,7 +23,7 @@ def format_action(self, action):
 
     @property
     def init_qpos(self):
-        return np.array([-0.026, -0.267, -0.200, -0.026, -0.267, -0.200])
+        return np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
 
     @property
     def _important_geoms(self):

tests/test_grippers/test_robotiq_140.py

@@ -11,12 +11,13 @@ def robotiq_tester(render, total_iters=1, test_y=True):
         gripper=gripper,
         pos="0 0 0.3",
         quat="0 0 1 0",
-        gripper_low_pos=0.02,
+        gripper_low_pos=0.03,
         gripper_high_pos=0.1,
-        box_size=[0.025] * 3,
+        box_size=[0.015] * 3,
         render=render,
     )
     tester.start_simulation()
+    tester.viewer.set_camera(0)
     tester.loop(total_iters=total_iters, test_y=test_y)
     tester.close()
 

tests/test_grippers/test_robotiq_85.py

@@ -11,8 +11,8 @@ def robotiq_tester(render, total_iters=1, test_y=True):
         gripper=gripper,
         pos="-0.02 0 0.3",
         quat="0 0 1 0",
-        gripper_low_pos=-0.065,
-        gripper_high_pos=0.01,
+        gripper_low_pos=-0.045,
+        gripper_high_pos=0.02,
         box_size=[0.025] * 3,
         render=render,
     )