diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index ac7e1c2..f8b4b31 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -151,7 +151,7 @@ class StretchBodyNode: # add gripper joints to joint state gripper_cg = self.joint_trajectory_action.gripper_cg if gripper_cg is not None: - 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)