From daae81f4a78ec0f7534937413345d96d3e1bc7fc Mon Sep 17 00:00:00 2001 From: Philipp Wu Date: Fri, 5 Apr 2024 12:41:37 -0700 Subject: [PATCH] ur5e fix --- gello/robots/robotiq_gripper.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gello/robots/robotiq_gripper.py b/gello/robots/robotiq_gripper.py index 40192df..aa24403 100644 --- a/gello/robots/robotiq_gripper.py +++ b/gello/robots/robotiq_gripper.py @@ -284,6 +284,9 @@ class RobotiqGripper: :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with the actual position that was requested, after being adjusted to the min/max calibrated range. """ + position = int(position) + speed = int(speed) + force = int(force) def clip_val(min_val, val, max_val): return max(min_val, min(val, max_val)) @@ -317,6 +320,10 @@ class RobotiqGripper: that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note that it is possible that the position was not reached, if an object was detected during motion. """ + position = int(position) + speed = int(speed) + force = int(force) + set_ok, cmd_pos = self.move(position, speed, force) if not set_ok: raise RuntimeError("Failed to set variables for move.")