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fix(pandafsm): reset inferred_rot_force_counter when (+1 more) #24

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fix(pandafsm): reset inferred_rot_force_counter when (+1 more) #24

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6 changes: 3 additions & 3 deletions utils/pandafsm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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

Expand Down