From c402885459b452b60b30d73138722e3651854bcc Mon Sep 17 00:00:00 2001 From: Andrew White Date: Mon, 27 Jul 2026 07:30:19 -0500 Subject: [PATCH] fix(pandafsm): reset inferred_rot_force_counter when (+1 more) --- utils/pandafsm.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/utils/pandafsm.py b/utils/pandafsm.py index bdbeab6..a9de206 100644 --- a/utils/pandafsm.py +++ b/utils/pandafsm.py @@ -318,8 +318,8 @@ def get_force_based_torque(self, F_des, F_curr): min_torque = self.cfg['force_control']['min_torque'] self.running_torque[0] -= min(total_F_err * Kp, 3 * Kp) self.running_torque[1] -= min(total_F_err * Kp, 3 * Kp) - self.running_torque[0] = min(min_torque, self.running_torque[0]) - self.running_torque[1] = min(min_torque, self.running_torque[1]) + self.running_torque[0] = max(min_torque, self.running_torque[0]) + self.running_torque[1] = max(min_torque, self.running_torque[1]) if DEBUG: print(self.running_torque, total_F_curr, self.desired_force) @@ -757,7 +757,7 @@ def reset_saved_state(self): self.gym_handle.set_particle_state_tensor( self.sim_handle, gymtorch.unwrap_tensor(self.saved_object_state)) print(self.env_id, "Reverting back to state", self.saved_fsm_state) - self.inferred_rot_force_counter + self.inferred_rot_force_counter = 0 self.state = self.saved_fsm_state self.squeeze_counter = 0