Fix gripper_pos obs shape

This fixes "panda/gripper_pos" type to be compatible with the space.Box shape 1.
rail-berkeley · Dec 7, 2024 · a8bb9be · a8bb9be
1 parent cd5f7e7
commit a8bb9be
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/franka_sim/franka_sim/envs/panda_pick_gym_env.py b/franka_sim/franka_sim/envs/panda_pick_gym_env.py
@@ -244,7 +244,7 @@ def _compute_observation(self) -> dict:
 
         gripper_pos = np.array(
             self._data.ctrl[self._gripper_ctrl_id] / 255, dtype=np.float32
-        )
+        ).reshape(1)
         obs["state"]["panda/gripper_pos"] = gripper_pos
 
         # joint_pos = np.stack(