From 41d0e4cb5563061fdaf18832a9c183c1fceaae5d Mon Sep 17 00:00:00 2001 From: Mikhail Yurasov Date: Thu, 26 Mar 2026 03:23:48 -0700 Subject: [PATCH] Fix type casting for open_axis and approach_axis in GripperCreator class --- scripts/graspgen/create_gripper_lab.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/graspgen/create_gripper_lab.py b/scripts/graspgen/create_gripper_lab.py index 18a1ca1..b0d2abd 100644 --- a/scripts/graspgen/create_gripper_lab.py +++ b/scripts/graspgen/create_gripper_lab.py @@ -212,12 +212,12 @@ def get_open_limit_axes_and_finger_indices(self, gripper): delta = upper_delta tool_pos = 0.5*wp.vec3f(gripper.data.body_com_pos_w[0, finger_idxs[1]] + gripper.data.body_com_pos_w[0, finger_idxs[0]]) # delta is now finger1 - finger0 position in the open limit. The largest delta is the open_axis. - open_axis = wp.argmax(wp.abs(delta)) + open_axis = int(wp.argmax(wp.abs(delta))) if delta[open_axis] < 0.0: finger_idxs = finger_idxs[::-1] approach_delta = tool_pos - wp.vec3f(gripper.data.body_com_pos_w[0, gripper.body_names.index(self.config.base_frame)]) approach_delta[open_axis] = 0.0 - approach_axis = wp.argmax(wp.abs(approach_delta)) + approach_axis = int(wp.argmax(wp.abs(approach_delta))) mid_axis = 3 - approach_axis - open_axis # MTC TODO if the approach axis delta is negative, then we use negaive normals when moving away form the object? return open_limit, approach_axis, open_axis, mid_axis, finger_idxs