diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
index 3267c5b5f..c6e69254e 100644
--- a/omnigibson/robots/manipulation_robot.py
+++ b/omnigibson/robots/manipulation_robot.py
@@ -1263,15 +1263,13 @@ def _load_state(self, state):
             return
 
         # Include AG_state
-        # TODO: currently doese not take care of cloth objects
-        self._ag_obj_constraint_params = state["ag_obj_constraint_params"]
-        for arm in self._ag_obj_constraint_params.keys():
-            if len(self._ag_obj_constraint_params[arm]) > 0:
-                data = self._ag_obj_constraint_params[arm]
+        # TODO: currently does not take care of cloth objects
+        for arm in state["ag_obj_constraint_params"].keys():
+            if len(state["ag_obj_constraint_params"][arm]) > 0:
+                data = state["ag_obj_constraint_params"][arm]
                 obj = og.sim.scene.object_registry("prim_path", data["ag_obj_prim_path"])
                 link = obj.links[data["ag_link_prim_path"].split("/")[-1]]
                 self._ag_data[arm] = (obj, link)
-                self._ag_obj_in_hand[arm] = obj
                 self._establish_grasp(arm=arm, ag_data=self._ag_data[arm], contact_pos=data["contact_pos"])
 
     def _serialize(self, state):
diff --git a/omnigibson/robots/tiago.py b/omnigibson/robots/tiago.py
index 4e6922387..fc74d01b1 100644
--- a/omnigibson/robots/tiago.py
+++ b/omnigibson/robots/tiago.py
@@ -572,16 +572,6 @@ def get_position_orientation(self):
 
     def set_position_orientation(self, position=None, orientation=None):
         current_position, current_orientation = self.get_position_orientation()
-        if position is None:
-            position = current_position
-        if orientation is None:
-            orientation = current_orientation
-        
-        # Position and orientation are lists when restoring scene from json. Cast to np.array
-        if isinstance(position, list):
-            position = np.array(position)
-        if isinstance(orientation, list):
-            orientation = np.array(orientation)
         
         # If the simulator is playing, set the 6 base joints to achieve the desired pose of base_footprint link frame
         if self._dc is not None and self._dc.is_simulating():