Rename robot grippers

scripts/meshcat_utils.py

@@ -45,17 +45,17 @@ control_points_suction = np.array([
 ])
 
 control_points_data = {
-    "franka": control_points_franka,
-    "robotiq2f140": control_points_robotiq2f140,
-    "suction": control_points_suction,
+    "franka_panda": control_points_franka,
+    "robotiq_2f_140": control_points_robotiq2f140,
+    "single_suction_cup_30mm": control_points_suction,
 }
 
-def get_gripper_control_points(gripper_name: str = 'franka') -> np.ndarray:
+def get_gripper_control_points(gripper_name: str = 'franka_panda') -> np.ndarray:
     """
     Get the control points for a specific gripper.
     
     Args:
-        gripper_name (str): Name of the gripper ("franka", "robotiq2f140", "suction")
+        gripper_name (str): Name of the gripper ("franka_panda", "robotiq_2f_140", "single_suction_cup_30mm")
     
     Returns:
         np.ndarray: Array of control points for the specified gripper
@@ -74,7 +74,7 @@ def get_gripper_depth(gripper_name: str) -> float:
     Get the depth parameter for a specific gripper type.
     
     Args:
-        gripper_name (str): Name of the gripper ("franka", "robotiq2f140", "suction")
+        gripper_name (str): Name of the gripper ("franka_panda", "robotiq_2f_140", "single_suction_cup_30mm")
     
     Returns:
         float: Depth parameter for the specified gripper
@@ -84,7 +84,7 @@ def get_gripper_depth(gripper_name: str) -> float:
     """
     # TODO: Use register module. Don't have this if-else name lookup
     pts, d = None, None
-    if gripper_name in ["franka", "robotiq2f140"]:
+    if gripper_name in ["franka_panda", "robotiq2f140"]:
         pts = get_gripper_control_points(gripper_name)
     elif gripper_name == "suction":
         return 0.069
@@ -141,12 +141,12 @@ def generate_circle_points(center: List[float], radius: float = 0.007, N: int =
     return points
 
 
-def get_gripper_visualization_control_points(gripper_name: str = 'franka') -> List[np.ndarray]:
+def get_gripper_visualization_control_points(gripper_name: str = 'franka_panda') -> List[np.ndarray]:
     """
     Get control points for visualizing a specific gripper type.
     
     Args:
-        gripper_name (str): Name of the gripper ("franka", "robotiq2f140", "suction")
+        gripper_name (str): Name of the gripper ("franka_panda", "robotiq_2f_140", "single_suction_cup_30mm")
     
     Returns:
         List[np.ndarray]: List of control point arrays for gripper visualization
@@ -314,7 +314,7 @@ def visualize_pointcloud(
         vis[name].set_transform(transform)
 
 
-def load_visualization_gripper_points(gripper_name: str = "franka") -> List[np.ndarray]:
+def load_visualization_gripper_points(gripper_name: str = "franka_panda") -> List[np.ndarray]:
     """
     Load control points for gripper visualization.
     
@@ -339,7 +339,7 @@ def visualize_grasp(
     name: str,
     transform: np.ndarray,
     color: List[int] = [255, 0, 0],
-    gripper_name: str = "franka",
+    gripper_name: str = "franka_panda",
     **kwargs: Any
 ) -> None:
     """

scripts/visualize_dataset.py

@@ -40,7 +40,7 @@ from dataset import GraspWebDatasetReader, load_uuid_list
 def visualize_mesh_with_grasps(
     mesh_path: str, 
     mesh_scale: float, 
-    gripper_name: str = "franka",
+    gripper_name: str = "franka_panda",
     grasps: list[np.ndarray] = None,
     color: list = [192, 192, 192], 
     transform: np.ndarray = None,
@@ -52,7 +52,7 @@ def visualize_mesh_with_grasps(
     Args:
         mesh_path (str): Path to the mesh file
         mesh_scale (float): Scale factor for the mesh
-        gripper_name (str): Name of the gripper to visualize ("franka", "suction", etc.)
+        gripper_name (str): Name of the gripper to visualize ("franka_panda", "suction", etc.)
         grasps (list[np.ndarray], optional): List of 4x4 grasp transforms
         color (list, optional): RGB color for the mesh. Defaults to gray if None
         transform (np.ndarray, optional): 4x4 transform matrix for the mesh. Defaults to identity if None
@@ -103,7 +103,7 @@ def parse_args():
     parser.add_argument("--uuid_list", type=str, help="Path to UUID list", default=None)
     parser.add_argument("--uuid_object_paths_file", type=str, help="Path to JSON file, mapping UUID to absolute path of the mesh file", default=None)
     parser.add_argument("--object_file", type=str, help="This has to be a .stl or .obj or .glb file", default=None)
-    parser.add_argument("--gripper_name", type=str, required=True, help="Specify the gripper name", choices=["franka", "suction", "robotiq2f140"])
+    parser.add_argument("--gripper_name", type=str, required=True, help="Specify the gripper name", choices=["franka_panda", "single_suction_cup_30mm", "robotiq_2f_140"])
     parser.add_argument("--max_grasps_to_visualize", type=int, help="The max number of grasps to visualize", default=20)
     return parser.parse_args()