Update scripts

UT-Austin-RPL · Apr 23, 2024 · 21602ed · 21602ed
1 parent d31c34f
commit 21602ed
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/deoxys/deoxys/experimental/motion_utils.py b/deoxys/deoxys/experimental/motion_utils.py
@@ -92,6 +92,7 @@ def follow_joint_traj(
     joint_traj: list,
     num_addition_steps=30,
     controller_cfg: dict = None,
+    gripper_close=True,
 ):
     """This is a simple function to follow a given trajectory in joint space.
 
@@ -132,7 +133,10 @@ def follow_joint_traj(
         else:
             action = target_joint_pos
         if len(action) == 7:
-            action = action + [-1.0]
+            if gripper_close:
+                action = action + [1.0]
+            else:
+                action = action + [-1.0]
         current_joint_pos = np.array(robot_interface.last_q)
         robot_interface.control(
             controller_type="JOINT_IMPEDANCE",

diff --git a/deoxys/examples/collect_low_dim_states_with_spacemouse.py b/deoxys/examples/collect_low_dim_states_with_spacemouse.py
@@ -97,7 +97,7 @@ def main():
 
     time.sleep(2)
 
-    while i < 2000:
+    while i < 4000:
         logger.info(i)
         i += 1
         start_time = time.time_ns()