Update franka_arm.py

Fixed Time Termination Handler
iamlab-cmu · Aug 15, 2024 · 77ac361 · 77ac361
1 parent 132bd44
commit 77ac361
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/frankapy/franka_arm.py b/frankapy/franka_arm.py
@@ -1522,13 +1522,13 @@ def selective_guidance_mode(self,
                 skill = Skill(SkillType.ImpedanceControlSkill, 
                               TrajectoryGeneratorType.StayInInitialJointsTrajectoryGenerator,
                               feedback_controller_type=FeedbackControllerType.JointImpedanceFeedbackController,
-                              termination_handler_type=TerminationHandlerType.FinalJointTerminationHandler, 
+                              termination_handler_type=TerminationHandlerType.TimeTerminationHandler, 
                               skill_desc=skill_desc)
             else:
                 skill = Skill(SkillType.JointPositionSkill, 
                               TrajectoryGeneratorType.StayInInitialJointsTrajectoryGenerator,
                               feedback_controller_type=FeedbackControllerType.SetInternalImpedanceFeedbackController,
-                              termination_handler_type=TerminationHandlerType.FinalJointTerminationHandler, 
+                              termination_handler_type=TerminationHandlerType.TimeTerminationHandler, 
                               skill_desc=skill_desc)
         else:
             if use_impedance: