From 4f68838c7ad57c565b2d44775bfccb5d32791476 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Fri, 14 Jan 2022 12:04:49 -0800 Subject: [PATCH] Fix gripper joint state calculation --- stretch_core/nodes/stretch_driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index 54f9d2d..2f22209 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -150,7 +150,7 @@ class StretchBodyNode: # add gripper joints to joint state gripper_cg = self.joint_trajectory_action.gripper_cg - missing_gripper_joint_names = list(set([gripper_cg.gripper_joint_names]) - set(joint_state.name)) + missing_gripper_joint_names = list(set(gripper_cg.gripper_joint_names) - set(joint_state.name)) for j in missing_gripper_joint_names: pos, vel, effort = gripper_cg.joint_state(robot_status, joint_name=j) joint_state.name.append(j)