New: Explicitly set StartLocation on 2nd navigation

matthias-mayr · Sep 15, 2024 · 670146e · 670146e
1 parent 4457558
commit 670146e
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/skiros2_pyrobosim_lib/solutions.py b/skiros2_pyrobosim_lib/solutions.py
@@ -41,8 +41,7 @@ def expand(self, skill):
         skill(
             self.skill("Navigate", "", remap={"TargetLocation": "ObjectStartLocation"}),
             self.skill("Pick", ""),
-            self.skill("BbUnsetParam", "", remap={"Parameter": "StartLocation"}),
-            self.skill("Navigate", "", remap={"TargetLocation": "ObjectTargetLocation"}),
+            self.skill("Navigate", "", remap={"StartLocation": "ObjectStartLocation", "TargetLocation": "ObjectTargetLocation"}),
             self.skill("Place", "", remap={"PlacingLocation": "ObjectTargetLocation"})
         )