Update robot.py: remove unnecessary env._step()

empriselab · Nov 29, 2023 · d558955 · d558955
1 parent 39e55c2
commit d558955
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/pyrcareworld/pyrcareworld/agents/robot.py b/pyrcareworld/pyrcareworld/agents/robot.py
@@ -439,7 +439,6 @@ def moveTo(self, targetPose: list, targetRot=None) -> None:
         else:
             joint_positions = self.ik_controller.calculate_ik_recursive(targetPose)
         self.setJointPositions(joint_positions)
-        self.env._step()
 
     def directlyMoveTo(self, targetPose: list, targetRot: list = None) -> None:
         if targetRot is not None:
@@ -449,7 +448,6 @@ def directlyMoveTo(self, targetPose: list, targetRot: list = None) -> None:
         else:
             joint_positions = self.ik_controller.calculate_ik_recursive(targetPose)
         self.setJointPositionsDirectly(joint_positions)
-        self.env._step()
 
     def SetBioIKTargetOffset(self, IKTargetOffset: list) -> None:
         pass