Merge pull request ARISE-Initiative#99 from mrkulk/patch-1

amandlek · web-flow · commit d4e0f6a3eed1 · 2020-08-18T13:17:05.000-07:00
Fix to solve error in gather_demonstrations_as_hdf5 (panda)
diff --git a/robosuite/wrappers/data_collection_wrapper.py b/robosuite/wrappers/data_collection_wrapper.py
@@ -132,6 +132,8 @@ def step(self, action):
                     info["gripper_actuation"] = np.array(action[14:])
                     info["left_dpos"] = np.array(action[7:10])  # add in second arm info
                     info["left_dquat"] = np.array(action[10:14])
+                elif self.env.mujoco_robot.name == "panda":
+                    info["gripper_actuation"] = np.array(action[7:])
             else:
                 info = {}
                 info["joint_velocities"] = np.array(action[: self.env.mujoco_robot.dof])
