Fix to stretch arm initialization not including gripper variants in c…

…ollision listener logic
allenai · Jul 26, 2024 · 3de253a · 3de253a
1 parent c87dcc0
commit 3de253a
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Showing 3 changed files with 15 additions and 7 deletions.
diff --git a/unity/Assets/Scripts/RobotArmTest/stretch_arm_rig_gripper.prefab b/unity/Assets/Scripts/RobotArmTest/stretch_arm_rig_gripper.prefab
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diff --git a/unity/Assets/Scripts/StretchAgentController.cs b/unity/Assets/Scripts/StretchAgentController.cs
@@ -568,6 +568,12 @@ protected int gripperOpenFloatToState(float openness) {
         }
 
         public ActionFinished SetGripperOpenness(float? openness, int? openState = null) {
+            setGripperOpenness(openness: openness, openState: openState);
+            return ActionFinished.Success;
+        }
+
+        //moving this to a helper function so we can call it without sending back an ActionFinished call
+        public void setGripperOpenness(float? openness, int? openState = null) {
             if (openness.HasValue == openState.HasValue) {
                 throw new InvalidOperationException(
                     $"Only one of openness or openState should have a value"
@@ -583,7 +589,6 @@ public ActionFinished SetGripperOpenness(float? openness, int? openState = null)
 
             GripperOpennessStates[openState.Value].SetActive(true);
             gripperOpennessState = openState.Value;
-            return ActionFinished.Success;
         }
 
         //        public void RotateCameraBase(float yawDegrees, float rollDegrees) {

diff --git a/unity/Assets/Scripts/Stretch_Robot_Arm_Controller.cs b/unity/Assets/Scripts/Stretch_Robot_Arm_Controller.cs
@@ -143,6 +143,9 @@ void Start() {
         }
 
         solver = this.gameObject.GetComponentInChildren<Stretch_Arm_Solver>();
+
+        //call SetGripperOpenness logic in StretchAgentController here
+        ((StretchAgentController)PhysicsController).setGripperOpenness(openness: null, openState: 1);
     }
 
     public void resetPosRotManipulator() {