From 9064572728d44ade1d127d459b7637d399c18a7a Mon Sep 17 00:00:00 2001 From: Ananth Jonnavittula Date: Thu, 5 Sep 2024 22:05:32 -0500 Subject: [PATCH] minor cleanup --- generate_ablation_demos.py | 2 +- helper_functions.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/generate_ablation_demos.py b/generate_ablation_demos.py index 68996e3..7b8a4ee 100644 --- a/generate_ablation_demos.py +++ b/generate_ablation_demos.py @@ -114,7 +114,7 @@ def parse_args(): grip = target[-1] action = np.hstack((linear, angular, [grip])) - robot_state, _,_, info = sim.step(action) + robot_state, _, _,_, info = sim.step(action) state = np.hstack((robot_state[:3], robot_state[-1])) object_state = np.array(info['object_positions'][object_of_interest][:3]).squeeze() # remove orientation of object diff --git a/helper_functions.py b/helper_functions.py index 40f91d9..35e604f 100644 --- a/helper_functions.py +++ b/helper_functions.py @@ -370,7 +370,7 @@ def simulate(args, traj, object_of_interest, verbose=False): robot_state, _,_, info = sim.step(action) while not grip == robot_state[-1]: # wait for gripper to open/close - robot_state, _,_, info = sim.step(action) + robot_state, _,_, _, info = sim.step(action) state = np.hstack((robot_state[:3], robot_state[-1])) object_state = np.array(info['object_positions'][object_of_interest][:3]) # remove orientation of object