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Fix type casting for wp.argmax return value in GripperCreator #6

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Fix type casting for wp.argmax return value in GripperCreator #6

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4 changes: 2 additions & 2 deletions scripts/graspgen/create_gripper_lab.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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