For now, forget about navigating

StanfordVL · Sep 29, 2023 · b524661 · b524661
1 parent 7f8674b
commit b524661
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/omnigibson/action_primitives/symbolic_semantic_action_primitives.py b/omnigibson/action_primitives/symbolic_semantic_action_primitives.py
@@ -149,7 +149,7 @@ def _grasp(self, obj: DatasetObject):
                 )
 
         # Get close
-        yield from self._navigate_if_needed(obj)
+        # yield from self._navigate_if_needed(obj)
 
         # Perform forced assisted grasp
         obj.set_position(self.robot.get_eef_position(self.arm))
@@ -234,7 +234,7 @@ def _place_with_predicate(self, obj, predicate, near_poses=None, near_poses_thre
         obj_pose = self._sample_pose_with_object_and_predicate(predicate, obj_in_hand, obj, near_poses=[], near_poses_threshold=None)
 
         # Get close, release the object.
-        yield from self._navigate_if_needed(obj, pose_on_obj=obj_pose)
+        # yield from self._navigate_if_needed(obj, pose_on_obj=obj_pose)
         yield from self._release()
 
         # Actually move the object to the spot and step a bit to settle it.
@@ -475,7 +475,7 @@ def _cut(self, obj):
             )
 
         # Get close
-        yield from self._navigate_if_needed(obj)
+        # yield from self._navigate_if_needed(obj)
 
         # TODO: Do some more validation
         added_obj_attrs = []