fixes bug in flipping gripper commands in demo scripts

source/standalone/demo/play_arms.py

@@ -138,9 +138,10 @@ def main():
                 actions[:, -1] = -1
             print("[INFO]: Resetting robots state...")
         # change the gripper action
-        if ep_step_count % 200 and has_gripper:
+        if ep_step_count % 200 == 0 and has_gripper:
             # flip command for the gripper
             actions[:, -1] = -actions[:, -1]
+            print(f"[INFO]: [Step {ep_step_count:03d}]: Flipping gripper command...")
         # apply action to the robot
         robot.apply_action(actions)
         # perform step

source/standalone/demo/play_cloner.py

@@ -163,7 +163,7 @@ def main():
                 actions[:, -1] = -1
             print("[INFO]: Resetting robots state...")
         # change the gripper action
-        if ep_step_count % 200 and has_gripper:
+        if ep_step_count % 50 == 0 and has_gripper:
             # flip command for the gripper
             actions[:, -1] = -actions[:, -1]
         # apply actions

source/standalone/demo/play_ridgeback_franka.py

@@ -130,7 +130,7 @@ def main():
             actions[:, -1] = 1
             print(">>>>>>>> Reset! Opening gripper.")
         # change the gripper action
-        if ep_step_count % 200:
+        if ep_step_count % 200 == 0:
             # flip command
             actions[:, -1] = -actions[:, -1]
         # change the base action