Some fixes

omnigibson/objects/object_base.py

@@ -152,28 +152,26 @@ def _post_load(self):
             scale = np.ones(3) if self._load_config["scale"] is None else np.array(self._load_config["scale"])
             if self.n_joints == 0 and (np.all(np.isclose(scale, 1.0, atol=1e-3)) or self.n_fixed_joints == 0) and (self._load_config["kinematic_only"] != False):
                 kinematic_only = True
-            else:
-                # Create fixed joint, and set Body0 to be this object's root prim
-                create_joint(
-                    prim_path=f"{self._prim_path}/rootJoint",
-                    joint_type="FixedJoint",
-                    body1=f"{self._prim_path}/{self._root_link_name}",
-                )
 
         # Validate that we didn't make a kinematic-only decision that does not match
         assert self._load_config["kinematic_only"] is None or kinematic_only == self._load_config["kinematic_only"], \
             f"Kinematic only decision does not match! Got: {kinematic_only}, expected: {self._load_config['kinematic_only']}"
 
         # Actually apply the kinematic-only decision
-        if kinematic_only:
-            for prim in self._prim.GetChildren():
-                if prim.GetPrimTypeInfo().GetTypeName() == "Xform":
-                    prim.GetAttribute("physics:kinematicEnabled").Set(True)
-                    prim.GetAttribute("physics:rigidBodyEnabled").Set(False)
+        self._load_config["kinematic_only"] = kinematic_only
 
         # Run super first
         super()._post_load()
 
+        # If the object is fixed_base but kinematic only is false, create the joint
+        if self.fixed_base and not self.kinematic_only:
+            # Create fixed joint, and set Body0 to be this object's root prim
+            create_joint(
+                prim_path=f"{self._prim_path}/rootJoint",
+                joint_type="FixedJoint",
+                body1=f"{self._prim_path}/{self._root_link_name}",
+            )
+
         # Set visibility
         if "visible" in self._load_config and self._load_config["visible"] is not None:
             self.visible = self._load_config["visible"]

omnigibson/prims/entity_prim.py

@@ -15,7 +15,7 @@
 from omnigibson.prims.joint_prim import JointPrim
 from omnigibson.prims.rigid_prim import RigidPrim
 from omnigibson.prims.xform_prim import XFormPrim
-from omnigibson.utils.extended_articulation_view import ExtendedArticulationView
+from omnigibson.utils.deprecated_utils import ArticulationView
 from omnigibson.utils.constants import PrimType, GEOM_TYPES, JointType, JointAxis
 from omnigibson.utils.ui_utils import suppress_omni_log
 from omnigibson.utils.usd_utils import BoundingBoxAPI
@@ -92,11 +92,14 @@ def _load(self):
     def _post_load(self):
         # Setup links info FIRST before running any other post loading behavior
         # We pass in scale explicitly so that the generated links can leverage the desired entity scale
-        self.update_links(load_config=dict(scale=self._load_config.get("scale", None)))
+        self.update_links(load_config=dict(
+            scale=self._load_config.get("scale", None),
+            kinematic_only=self._load_config.get("kinematic_only", None)
+        ))
 
         # Prepare the articulation view.
         if self.n_joints > 0:
-            self._articulation_view = ExtendedArticulationView(self._prim_path + "/base_link")
+            self._articulation_view = ArticulationView(self._prim_path + "/base_link")
 
         # If this is a cloth, delete the root link and replace it with the single nested mesh
         if self._prim_type == PrimType.CLOTH:

omnigibson/prims/rigid_prim.py

@@ -52,6 +52,7 @@ class RigidPrim(XFormPrim):
             density (None or float): If specified, density of this body in kg / m^3
             visual_only (None or bool): If specified, whether this prim should include collisions or not.
                 Default is True.
+            kinematic_only (None or bool): If specified, whether this prim should be kinematic-only or not.
     """
 
     def __init__(
@@ -80,6 +81,11 @@ def _post_load(self):
         # Create the view
         self._rigid_prim_view = RigidPrimView(self._prim_path)
 
+        # Set it to be kinematic if necessary
+        if "kinematic_only" in self._load_config and self._load_config["kinematic_only"]:
+            self.set_attribute("physics:kinematicEnabled", True)
+            self.set_attribute("physics:rigidBodyEnabled", False)
+
         # run super first
         super()._post_load()