fix(pandafsm): reset inferred_rot_force_counter when (+1 more)

[andrewwhitecdw]

Small fixes in utils/pandafsm.py:

fix: reset inferred_rot_force_counter when reverting saved state

Fix: Replace:

        print(self.env_id, "Reverting back to state", self.saved_fsm_state)
        self.inferred_rot_force_counter
        self.state = self.saved_fsm_state
        self.squeeze_counter = 0

with:

        print(self.env_id, "Reverting back to state", self.saved_fsm_state)
        self.inferred_rot_force_counter = 0
        self.state = self.saved_fsm_state
        self.squeeze_counter = 0

fix: clamp running torque with max instead of min

Fix: Replace:

        self.running_torque[0] = min(min_torque, self.running_torque[0])
        self.running_torque[1] = min(min_torque, self.running_torque[1])

with:

        self.running_torque[0] = max(min_torque, self.running_torque[0])
        self.running_torque[1] = max(min_torque, self.running_torque[1])

Files changed

• utils/pandafsm.py