Merge pull request #352 from StanfordVL/fix-ag

Fix AG bug when no candidates exist
StanfordVL · Dec 22, 2023 · 3f9a24c · 3f9a24c
2 parents 473960d + a6c119a
commit 3f9a24c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
@@ -781,6 +781,9 @@ def _calculate_in_hand_object_rigid(self, arm="default"):
             dist = np.linalg.norm(np.array(candidate_link.get_position()) - np.array(gripper_center_pos))
             candidate_data.append((prim_path, dist))
 
+        if not candidate_data:
+            return None
+
         candidate_data = sorted(candidate_data, key=lambda x: x[-1])
         ag_prim_path, _ = candidate_data[0]