From 75aa4f416351d8a4879133d8f93794a74bb1bdce Mon Sep 17 00:00:00 2001 From: Kirsty Ellis Date: Tue, 4 Jun 2024 13:27:11 -0400 Subject: [PATCH 1/2] fix typo in action space assert --- droid/franka/robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/droid/franka/robot.py b/droid/franka/robot.py index 27fe316..52bf5f0 100644 --- a/droid/franka/robot.py +++ b/droid/franka/robot.py @@ -186,7 +186,7 @@ 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": From 102d4418c3618dc3fbf92830c770512894b71dbf Mon Sep 17 00:00:00 2001 From: Kirsty Ellis Date: Wed, 12 Jun 2024 15:28:22 -0400 Subject: [PATCH 2/2] pass gripper action space --- droid/misc/server_interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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"):