diff --git a/droid/franka/robot.py b/droid/franka/robot.py
index 6cefee4..e4f0220 100644
--- a/droid/franka/robot.py
+++ b/droid/franka/robot.py
@@ -197,7 +197,7 @@ def create_action_dict(self, action, action_space, gripper_action_space=None, ro
 
         if gripper_action_space is None:
             gripper_action_space = "velocity" if velocity else "position"
-        assert gripper_action_space in ["velocity", "policy"]
+        assert gripper_action_space in ["velocity", "position"]
             
 
         if gripper_action_space == "velocity":
diff --git a/droid/misc/server_interface.py b/droid/misc/server_interface.py
index 1bdfb1c..d13152e 100644
--- a/droid/misc/server_interface.py
+++ b/droid/misc/server_interface.py
@@ -43,7 +43,7 @@ def kill_controller(self):
         self.server.kill_controller()
 
     def update_command(self, command, action_space="cartesian_velocity", gripper_action_space="velocity", blocking=False):
-        action_dict = self.server.update_command(command.tolist(), action_space, blocking)
+        action_dict = self.server.update_command(command.tolist(), action_space, gripper_action_space, blocking)
         return action_dict
 
     def create_action_dict(self, command, action_space="cartesian_velocity"):