diff --git a/micropsi_integration_sdk/robot_sdk.py b/micropsi_integration_sdk/robot_sdk.py
index 9effc1a..f3c7bab 100644
--- a/micropsi_integration_sdk/robot_sdk.py
+++ b/micropsi_integration_sdk/robot_sdk.py
@@ -303,16 +303,17 @@ def get_frequency(self) -> float:
         """
         return 50.
 
-        def get_home_tolerance(self) -> float:
-        """ Optional, override as appropriate.
-
-            When the robot is sent home, the home tolerance defines how much the sum of
-            all current joint positions can differ from the sum of all joint position of
-            the configured home position for the position to be considered "home". The
-            unit for the joints is the same unit being returned by get_hardware_state.
-            Default is 0.1.
-            """
-            return 0.1
+    def get_home_tolerance(self) -> float:
+        """
+        Optional, override as appropriate.
+
+        When the robot is sent home, the home tolerance defines how much the sum of
+        all current joint positions can differ from the sum of all joint position of
+        the configured home position for the position to be considered "home". The
+        unit for the joints is the same unit being returned by get_hardware_state.
+        Default is 0.1.
+        """
+        return 0.1
 
     def get_sensitivity_range(self) -> dict:
         """
diff --git a/micropsi_integration_sdk/version.py b/micropsi_integration_sdk/version.py
index e50bfd9..62c0a10 100644
--- a/micropsi_integration_sdk/version.py
+++ b/micropsi_integration_sdk/version.py
@@ -1 +1 @@
-VERSION = "0.19.0"
+VERSION = "0.20.0"