From ab78ea0eb7bd64e249531d8ff02394433f96637e Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 9 Sep 2022 12:07:07 -0700 Subject: [PATCH] Command Group status effort_pct key fix --- stretch_core/nodes/command_groups.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py index 6e7ad40..d949c85 100644 --- a/stretch_core/nodes/command_groups.py +++ b/stretch_core/nodes/command_groups.py @@ -370,7 +370,7 @@ class ArmCommandGroup(SimpleCommandGroup): arm_status = robot_status['arm'] arm_backlash_correction = self.retracted_offset_m if self.retracted else 0.0 pos = arm_status['pos'] + arm_backlash_correction - return (pos, arm_status['vel'], arm_status['motor']['effort']) + return (pos, arm_status['vel'], arm_status['motor']['effort_pct']) class LiftCommandGroup(SimpleCommandGroup): @@ -410,7 +410,7 @@ class LiftCommandGroup(SimpleCommandGroup): def joint_state(self, robot_status, **kwargs): lift_status = robot_status['lift'] - return (lift_status['pos'], lift_status['vel'], lift_status['motor']['effort']) + return (lift_status['pos'], lift_status['vel'], lift_status['motor']['effort_pct']) class MobileBaseCommandGroup(SimpleCommandGroup):