clean up auto grasp

facebookresearch · Oct 24, 2023 · b34cb16 · b34cb16
1 parent 5da9679
commit b34cb16
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/habitat-lab/habitat/tasks/rearrange/actions/actions.py b/habitat-lab/habitat/tasks/rearrange/actions/actions.py
@@ -114,7 +114,9 @@ def action_space(self):
     def step(self, *args, **kwargs):
         arm_action = kwargs[self._action_arg_prefix + "arm_action"]
         self.arm_ctrlr.step(arm_action)
-        if self.grip_ctrlr is not None and not self.disable_grip:
+        if self.grip_ctrlr is not None and self._config.auto_grasp:
+            self.grip_ctrlr.step(None)
+        elif self.grip_ctrlr is not None and not self.disable_grip:
             grip_action = kwargs[self._action_arg_prefix + "grip_action"]
             self.grip_ctrlr.step(grip_action)