From 70c84d5b6c3d12d11ddf696cdb729e6af1d0958b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?=
 <1408354+cgokmen@users.noreply.github.com>
Date: Thu, 28 Sep 2023 15:53:02 -0700
Subject: [PATCH] Fix disable grasp handling

---
 .../action_primitives/starter_semantic_action_primitives.py   | 2 +-
 omnigibson/robots/manipulation_robot.py                       | 2 +-
 omnigibson/robots/tiago.py                                    | 4 ++++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/omnigibson/action_primitives/starter_semantic_action_primitives.py b/omnigibson/action_primitives/starter_semantic_action_primitives.py
index 044896f04..88a52ee40 100644
--- a/omnigibson/action_primitives/starter_semantic_action_primitives.py
+++ b/omnigibson/action_primitives/starter_semantic_action_primitives.py
@@ -1643,7 +1643,7 @@ def _sample_pose_near_object(self, obj, pose_on_obj=None, **kwargs):
                     pos_on_obj = self._sample_position_on_aabb_face(obj)
                     pose_on_obj = [pos_on_obj, np.array([0, 0, 0, 1])]
 
-                distance = np.random.uniform(0.0, 1.0)
+                distance = np.random.uniform(0.0, 5.0)
                 yaw = np.random.uniform(-np.pi, np.pi)
                 avg_arm_workspace_range = np.mean(self.robot.arm_workspace_range[self.arm])
                 pose_2d = np.array(
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
index 0d6ff3ae3..856eeb82a 100644
--- a/omnigibson/robots/manipulation_robot.py
+++ b/omnigibson/robots/manipulation_robot.py
@@ -113,7 +113,7 @@ def __init__(
 
         # Unique to ManipulationRobot
         grasping_mode="physical",
-        disable_grasp_handling=False,  # TODO: revert to False. This is for debugging purposes
+        disable_grasp_handling=False,
 
         **kwargs,
     ):
diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py
index 6860a8074..d7838d285 100644
--- a/omnigibson/robots/tiago.py
+++ b/omnigibson/robots/tiago.py
@@ -75,6 +75,7 @@ def __init__(
 
         # Unique to ManipulationRobot
         grasping_mode="physical",
+        disable_grasp_handling=False,
 
         # Unique to Tiago
         rigid_trunk=False,
@@ -129,6 +130,8 @@ def __init__(
                 If "physical", no assistive grasping will be applied (relies on contact friction + finger force).
                 If "assisted", will magnetize any object touching and within the gripper's fingers.
                 If "sticky", will magnetize any object touching the gripper's fingers.
+            disable_grasp_handling (bool): If True, will disable all grasp handling for this object. This means that
+                sticky and assisted grasp modes will not work unless the connection/release methodsare manually called.
             rigid_trunk (bool) if True, will prevent the trunk from moving during execution.
             default_trunk_offset (float): sets the default height of the robot's trunk
             default_arm_pose (str): Default pose for the robot arm. Should be one of:
@@ -176,6 +179,7 @@ def __init__(
             proprio_obs=proprio_obs,
             sensor_config=sensor_config,
             grasping_mode=grasping_mode,
+            disable_grasp_handling=disable_grasp_handling,
             **kwargs,
         )