Temporarily disable tree-based AG type selection

StanfordVL · Dec 13, 2023 · 4b6ecc1 · 4b6ecc1
1 parent 00ce7c5
commit 4b6ecc1
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
@@ -1057,12 +1057,13 @@ def _get_assisted_grasp_joint_type(self, ag_obj, ag_link):
         # Otherwise, compute the joint type. We use a fixed joint unless the link is a non-fixed link.
         # A link is non-fixed if it has any non-fixed parent joints.
         joint_type = "FixedJoint"
-        articulation_graph = ag_obj.articulation_graph
-        for edge in nx.edge_dfs(articulation_graph, ag_link, orientation="reverse"):
-            joint = articulation_graph.edges[edge]["joint"]
-            if joint.joint_type != JointType.JOINT_FIXED:
-                joint_type = "SphericalJoint"
-                break
+        # TODO: Add this logic back w/o the graph using just the articulationview.
+        # articulation_graph = ag_obj.articulation_graph
+        # for edge in nx.edge_dfs(articulation_graph, ag_link, orientation="reverse"):
+        #     joint = articulation_graph.edges[edge]["joint"]
+        #     if joint.joint_type != JointType.JOINT_FIXED:
+        #         joint_type = "SphericalJoint"
+        #         break
 
         return joint_type