Fix typo: writs_dof -> wrist_dof

chernyadev · Oct 15, 2024 · 7e5460d · 7e5460d
1 parent 94979d4
commit 7e5460d
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/bigym/robots/config.py b/bigym/robots/config.py
@@ -47,14 +47,14 @@ class ArmConfig:
     Attributes:
         site: The site on the robot where the gripper could be attached.
         links: A list of body links of the hand.
-        writs_dof: Optional wrist DOF which could be added to the arm.
+        wrist_dof: Optional wrist DOF which could be added to the arm.
         offset_position: Mounting positional offset.
         offset_euler: Mounting euler offset.
     """
 
     site: str
     links: list[str]
-    writs_dof: Optional[Dof] = None
+    wrist_dof: Optional[Dof] = None
     offset_position: np.ndarray = field(default_factory=lambda: np.zeros(3))
     offset_euler: np.ndarray = field(default_factory=lambda: np.zeros(3))
 

diff --git a/bigym/robots/configs/h1.py b/bigym/robots/configs/h1.py
@@ -25,7 +25,7 @@
         "left_shoulder_yaw_link",
         "left_elbow_link",
     ],
-    writs_dof=H1_WRIST_DOF,
+    wrist_dof=H1_WRIST_DOF,
     offset_euler=np.array([np.pi / 2, np.pi / 2, 0]),
 )
 H1_RIGHT_ARM = ArmConfig(
@@ -36,7 +36,7 @@
         "right_shoulder_yaw_link",
         "right_elbow_link",
     ],
-    writs_dof=H1_WRIST_DOF,
+    wrist_dof=H1_WRIST_DOF,
     offset_euler=np.array([np.pi / 2, np.pi / 2, 0]),
 )
 H1_ACTUATORS = {

diff --git a/bigym/robots/robot.py b/bigym/robots/robot.py
@@ -207,7 +207,7 @@ def _on_loaded(self, model: mjcf.RootElement):
         # Configure wrist joints
         self._wrist_sites: dict[HandSide, Site] = {}
         for side, arm_config in self.config.arms.items():
-            if arm_config.writs_dof:
+            if arm_config.wrist_dof:
                 self._add_wrist(model, side, arm_config)
             self._wrist_sites[side]: Site = Site.get(
                 self._mojo, arm_config.site, mojo_model
@@ -319,14 +319,14 @@ def _add_wrist(model: mjcf.RootElement, side: HandSide, arm_config: ArmConfig):
         wrist.add("site", name=site_name)
         joint = wrist.add(
             "joint",
-            type=arm_config.writs_dof.joint_type.value,
+            type=arm_config.wrist_dof.joint_type.value,
             name=join_name,
-            axis=arm_config.writs_dof.axis,
-            range=arm_config.writs_dof.joint_range,
+            axis=arm_config.wrist_dof.axis,
+            range=arm_config.wrist_dof.joint_range,
         )
         model.actuator.add(
             "motor",
             name=join_name,
             joint=joint,
-            ctrlrange=arm_config.writs_dof.action_range,
+            ctrlrange=arm_config.wrist_dof.action_range,
         )