Tweak mobile hand examples.

kevinzakka · kevinzakka · commit dc6d581da0d0 · 2025-12-19T10:20:03.000+02:00
diff --git a/examples/arm_hand_iiwa_allegro.py b/examples/arm_hand_iiwa_allegro.py
@@ -107,8 +107,8 @@ def construct_model() -> mujoco.MjModel:
                 model, data, f"{finger}_target", f"allegro_left/{finger}", "site"
             )
 
-        T_eef_prev = configuration.get_transform_frame_to_world(
-            "attachment_site", "site"
+        T_palm_prev = configuration.get_transform_frame_to_world(
+            "allegro_left/palm", "body"
         )
 
         rate = RateLimiter(frequency=100.0, warn=False)
@@ -124,11 +124,11 @@ def construct_model() -> mujoco.MjModel:
                 )
                 task.set_target(T_pm)
 
-            T_eef = configuration.get_transform_frame_to_world(
-                "attachment_site", "site"
+            T_palm = configuration.get_transform_frame_to_world(
+                "allegro_left/palm", "body"
             )
-            T = T_eef @ T_eef_prev.inverse()
-            T_eef_prev = T_eef.copy()
+            T = T_palm @ T_palm_prev.inverse()
+            T_palm_prev = T_palm.copy()
             for finger in fingers:
                 mocap_id = model.body(f"{finger}_target").mocapid[0]
                 T_w_mocap = mink.SE3.from_mocap_id(data, mocap_id)
diff --git a/examples/arm_hand_xarm_leap.py b/examples/arm_hand_xarm_leap.py
@@ -122,8 +122,8 @@ def construct_model() -> mujoco.MjModel:
                 model, data, f"{finger}_target", f"leap_right/{finger}", "site"
             )
 
-        T_eef_prev = configuration.get_transform_frame_to_world(
-            "attachment_site", "site"
+        T_palm_prev = configuration.get_transform_frame_to_world(
+            "leap_right/palm_lower", "body"
         )
 
         rate = RateLimiter(frequency=200.0, warn=False)
@@ -146,11 +146,11 @@ def construct_model() -> mujoco.MjModel:
                 )
                 task.set_target(T_pm)
 
-            T_eef = configuration.get_transform_frame_to_world(
-                "attachment_site", "site"
+            T_palm = configuration.get_transform_frame_to_world(
+                "leap_right/palm_lower", "body"
             )
-            T = T_eef @ T_eef_prev.inverse()
-            T_eef_prev = T_eef.copy()
+            T = T_palm @ T_palm_prev.inverse()
+            T_palm_prev = T_palm.copy()
             for finger in fingers:
                 mocap_id = model.body(f"{finger}_target").mocapid[0]
                 T_w_mocap = mink.SE3.from_mocap_id(data, mocap_id)
diff --git a/examples/mobile_kinova_leap.py b/examples/mobile_kinova_leap.py
@@ -149,7 +149,9 @@ def __call__(self, key: int) -> None:
                 model, data, f"{finger}_target", f"leap_right/{finger}", "site"
             )
 
-        T_eef_prev = configuration.get_transform_frame_to_world("pinch_site", "site")
+        T_palm_prev = configuration.get_transform_frame_to_world(
+            "leap_right/palm_lower", "body"
+        )
 
         rate = RateLimiter(frequency=50.0, warn=False)
         while viewer.is_running():
@@ -164,9 +166,11 @@ def __call__(self, key: int) -> None:
                 )
                 task.set_target(T_pm)
 
-            T_eef = configuration.get_transform_frame_to_world("pinch_site", "site")
-            T = T_eef @ T_eef_prev.inverse()
-            T_eef_prev = T_eef.copy()
+            T_palm = configuration.get_transform_frame_to_world(
+                "leap_right/palm_lower", "body"
+            )
+            T = T_palm @ T_palm_prev.inverse()
+            T_palm_prev = T_palm.copy()
 
             for finger in fingers:
                 mocap_id = model.body(f"{finger}_target").mocapid[0]

Original file line number	Diff line number	Diff line change
`@@ -107,8 +107,8 @@ def construct_model() -> mujoco.MjModel:`
`107`	`107`	`model, data, f"{finger}_target", f"allegro_left/{finger}", "site"`
`108`	`108`	`)`
`109`	`109`
`110`		`- T_eef_prev = configuration.get_transform_frame_to_world(`
`111`		`- "attachment_site", "site"`
	`110`	`+ T_palm_prev = configuration.get_transform_frame_to_world(`
	`111`	`+ "allegro_left/palm", "body"`
`112`	`112`	`)`
`113`	`113`
`114`	`114`	`rate = RateLimiter(frequency=100.0, warn=False)`
`@@ -124,11 +124,11 @@ def construct_model() -> mujoco.MjModel:`
`124`	`124`	`)`
`125`	`125`	`task.set_target(T_pm)`
`126`	`126`
`127`		`- T_eef = configuration.get_transform_frame_to_world(`
`128`		`- "attachment_site", "site"`
	`127`	`+ T_palm = configuration.get_transform_frame_to_world(`
	`128`	`+ "allegro_left/palm", "body"`
`129`	`129`	`)`
`130`		`- T = T_eef @ T_eef_prev.inverse()`
`131`		`- T_eef_prev = T_eef.copy()`
	`130`	`+ T = T_palm @ T_palm_prev.inverse()`
	`131`	`+ T_palm_prev = T_palm.copy()`
`132`	`132`	`for finger in fingers:`
`133`	`133`	`mocap_id = model.body(f"{finger}_target").mocapid[0]`
`134`	`134`	`T_w_mocap = mink.SE3.from_mocap_id(data, mocap_id)`
Original file line number	Diff line number	Diff line change
`@@ -122,8 +122,8 @@ def construct_model() -> mujoco.MjModel:`
`122`	`122`	`model, data, f"{finger}_target", f"leap_right/{finger}", "site"`
`123`	`123`	`)`
`124`	`124`
`125`		`- T_eef_prev = configuration.get_transform_frame_to_world(`
`126`		`- "attachment_site", "site"`
	`125`	`+ T_palm_prev = configuration.get_transform_frame_to_world(`
	`126`	`+ "leap_right/palm_lower", "body"`
`127`	`127`	`)`
`128`	`128`
`129`	`129`	`rate = RateLimiter(frequency=200.0, warn=False)`
`@@ -146,11 +146,11 @@ def construct_model() -> mujoco.MjModel:`
`146`	`146`	`)`
`147`	`147`	`task.set_target(T_pm)`
`148`	`148`
`149`		`- T_eef = configuration.get_transform_frame_to_world(`
`150`		`- "attachment_site", "site"`
	`149`	`+ T_palm = configuration.get_transform_frame_to_world(`
	`150`	`+ "leap_right/palm_lower", "body"`
`151`	`151`	`)`
`152`		`- T = T_eef @ T_eef_prev.inverse()`
`153`		`- T_eef_prev = T_eef.copy()`
	`152`	`+ T = T_palm @ T_palm_prev.inverse()`
	`153`	`+ T_palm_prev = T_palm.copy()`
`154`	`154`	`for finger in fingers:`
`155`	`155`	`mocap_id = model.body(f"{finger}_target").mocapid[0]`
`156`	`156`	`T_w_mocap = mink.SE3.from_mocap_id(data, mocap_id)`