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Various small fixes

This commit is contained in:
Cem Gökmen 2024-09-17 17:48:44 -07:00
parent ffa5ff18a3
commit 4e605652d3
2 changed files with 2 additions and 6 deletions
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2
omnigibson/prims/entity_prim.py
View File

@ -1374,7 +1374,6 @@ class EntityPrim(XFormPrim):
Returns:
bool: Whether self-collisions are enabled for this prim or not
"""
assert self.articulated, "Cannot get self-collision for non-articulated EntityPrim!"
return lazy.omni.isaac.core.utils.prims.get_prim_property(
self.articulation_root_path, "physxArticulation:enabledSelfCollisions"
)
@ -1387,7 +1386,6 @@ class EntityPrim(XFormPrim):
Args:
flag (bool): Whether self collisions are enabled for this prim or not
"""
assert self.articulated, "Cannot set self-collision for non-articulated EntityPrim!"
lazy.omni.isaac.core.utils.prims.set_prim_property(
self.articulation_root_path, "physxArticulation:enabledSelfCollisions", flag
)

6
omnigibson/utils/usd_utils.py
View File

@ -360,7 +360,7 @@ class RigidContactAPIImpl:
interesting_col_paths = [
p for p in self._PATH_TO_COL_IDX[scene_idx].keys() if column_prim_paths is None or p in column_prim_paths
]
interesting_columns = [list(GripperRigidContactAPI.get_body_col_idx(pp))[1] for pp in interesting_col_paths]
interesting_columns = [list(self.get_body_col_idx(pp))[1] for pp in interesting_col_paths]
# Get the interesting-columns from the impulse matrix
interesting_impulse_columns = impulses[:, interesting_columns]
@ -368,9 +368,7 @@ class RigidContactAPIImpl:
interesting_impulse_columns.ndim == 2
), f"Impulse matrix should be 2D, found shape {interesting_impulse_columns.shape}"
interesting_row_idxes = th.nonzero(th.any(interesting_impulse_columns > 0, dim=1)).flatten()
interesting_row_paths = [
GripperRigidContactAPI.get_row_idx_prim_path(scene_idx, i) for i in interesting_row_idxes
]
interesting_row_paths = [self.get_row_idx_prim_path(scene_idx, i) for i in interesting_row_idxes]
# Filter out idxes by whether or not the row path is in the row prim paths list
if row_prim_paths is not None: