only do interruption on pick and nav, and not place by human

facebookresearch · Jan 30, 2025 · 107035d · 107035d
1 parent c3c60b2
commit 107035d
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/spot_rl_experiments/spot_rl/skills/atomic_skills.py b/spot_rl_experiments/spot_rl/skills/atomic_skills.py
@@ -194,9 +194,10 @@ def execute_rl_loop(self, goal_dict: Dict[str, Any]) -> Tuple[bool, str]:
             observations, _, done, info = self.env.step(action_dict=action_dict)  # type: ignore
 
             # Do not interrupt pick and place skills when human does something
+            # update Jan 30: only do interrupt when robot is in pick or nav
             if (
                 "None" not in human_action
-                and begin_skill_name not in ["place", "pick"]
+                and begin_skill_name not in ["place"]
                 and not is_exploring
             ):
                 done = True