Merge pull request #314 from StanfordVL/ap-fix

Fix bugs on og-develop
StanfordVL · Nov 5, 2023 · 1eb91d5 · 1eb91d5
2 parents a24576d + 71a783e
commit 1eb91d5
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Showing 4 changed files with 9 additions and 5 deletions.
diff --git a/omnigibson/controllers/ik_controller.py b/omnigibson/controllers/ik_controller.py
@@ -289,10 +289,10 @@ def _command_to_control(self, command, control_dict):
                 target_joint_pos = self.solver.solve(
                     target_pos=target_pos,
                     target_quat=target_quat,
-                    current_joint_pos=current_joint_pos,
                     tolerance_pos=m.IK_POS_TOLERANCE,
                     weight_pos=m.IK_POS_WEIGHT,
                     max_iterations=m.IK_MAX_ITERATIONS,
+                    initial_joint_pos=current_joint_pos,
                 )
             else:
                 target_joint_pos = self.solver.solve(

diff --git a/omnigibson/examples/environments/behavior_env_demo.py b/omnigibson/examples/environments/behavior_env_demo.py
@@ -8,6 +8,7 @@
 
 # Make sure object states are enabled
 gm.ENABLE_OBJECT_STATES = True
+gm.USE_GPU_DYNAMICS = True
 
 
 def main(random_selection=False, headless=False, short_exec=False):

diff --git a/omnigibson/objects/light_object.py b/omnigibson/objects/light_object.py
@@ -161,7 +161,8 @@ def radius(self):
         Returns:
             float: radius for this light
         """
-        return self._light_link.get_attribute("radius")
+        return self._light_link.get_attribute(
+            "inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius")
 
     @radius.setter
     def radius(self, radius):
@@ -171,7 +172,9 @@ def radius(self, radius):
         Args:
             radius (float): radius to set
         """
-        self._light_link.set_attribute("radius", radius)
+        self._light_link.set_attribute(
+            "inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius",
+            radius)
 
     @property
     def intensity(self):

diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py
@@ -91,8 +91,8 @@ def solve(
         Args:
             target_pos (3-array): desired (x,y,z) local target cartesian position in robot's base coordinate frame
             target_quat (4-array or None): If specified, desired (x,y,z,w) local target quaternion orientation in
-            robot's base coordinate frame. If None, IK will be position-only (will override settings such that
-            orientation's tolerance is very high and weight is 0)
+                robot's base coordinate frame. If None, IK will be position-only (will override settings such that
+                orientation's tolerance is very high and weight is 0)
             tolerance_pos (float): Maximum position error (L2-norm) for a successful IK solution
             tolerance_quat (float): Maximum orientation error (per-axis L2-norm) for a successful IK solution
             weight_pos (float): Weight for the relative importance of position error during CCD