Merge remote-tracking branch 'origin/asset-conversion' into asset-con…

…version
StanfordVL · Dec 12, 2024 · ee495ad · ee495ad
2 parents 1ca3f87 + 2f7a8f8
commit ee495ad
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/omnigibson/controllers/multi_finger_gripper_controller.py b/omnigibson/controllers/multi_finger_gripper_controller.py
@@ -252,7 +252,9 @@ def _update_grasping_state(self, control_dict):
                 dist_from_upper_limit = max_pos - finger_pos
 
                 # If either of the joint positions are not near the joint limits with some tolerance (m.POS_TOLERANCE)
-                valid_grasp_pos = th.mean(dist_from_lower_limit) > m.POS_TOLERANCE or th.mean(dist_from_upper_limit) > m.POS_TOLERANCE
+                valid_grasp_pos = (
+                    th.mean(dist_from_lower_limit) > m.POS_TOLERANCE or th.mean(dist_from_upper_limit) > m.POS_TOLERANCE
+                )
 
                 # And the joint velocities are close to zero with some tolerance (m.VEL_TOLERANCE)
                 valid_grasp_vel = th.all(th.abs(finger_vel) < m.VEL_TOLERANCE)