BUGFIX: Version robust way of getting robotiq max_width

vikashplus · Mar 14, 2023 · a8bf20f · a8bf20f
1 parent 1bfb678
commit a8bf20f
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/mj_envs/robot/hardware_robotiq.py b/mj_envs/robot/hardware_robotiq.py
@@ -32,7 +32,13 @@ def connect(self, policy=None):
         print("RBQ:> Testing {} connection: ".format(self.name), end="")
         if self.okay():
             print("Okay")
-            self.max_width = self.robot.get_state().max_width
+            # get max_width based on polymetis version
+            if self.robot.metadata:
+                self.max_width = self.robot.metadata.max_width
+            elif self.robot.get_state().max_width:
+                self.max_width = self.robot.get_state().max_width
+            else:
+                self.max_width = 0.085
             connection = True
         else:
             print("Not ready. Please retry connection")