Some fixes

StanfordVL · Dec 13, 2023 · 757b144 · 757b144
1 parent 8265936
commit 757b144
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py
@@ -91,7 +91,7 @@ def _load(self):
 
     def _post_load(self):
         # Prepare the articulation view (at this point only working via the USD interface)
-        self._articulation_view = ExtendedArticulationView(self._prim_path)
+        self._articulation_view = ExtendedArticulationView(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:
@@ -235,7 +235,7 @@ def update_joints(self):
                 for i in range(self._articulation_view._metadata.joint_count):
                     joint_name = self._articulation_view._metadata.joint_names[i]
                     joint_dof_offset = self._articulation_view._metadata.joint_dof_offsets[i]
-                    joint_path = self._articulation_view.dof_paths[0][joint_dof_offset]
+                    joint_path = self._articulation_view._dof_paths[0][joint_dof_offset]
                     # Only add the joint if it's not fixed (i.e.: it has DOFs > 0)
                     if self._articulation_view._metadata.joint_dof_counts[i] > 0:
                         joint = JointPrim(

diff --git a/omnigibson/prims/joint_prim.py b/omnigibson/prims/joint_prim.py
@@ -173,7 +173,7 @@ def update_handles(self):
         """
         # It's a bit tricky to get the joint index here. We need to find the first dof at this prim path
         # first, then get the corresponding joint index from that dof offset.
-        self._joint_dof_offset = list(self._articulation_view.dof_paths[0]).index(self._prim_path)
+        self._joint_dof_offset = list(self._articulation_view._dof_paths[0]).index(self._prim_path)
         self._joint_idx = list(self._articulation_view._metadata.joint_dof_offsets).index(self._joint_dof_offset)
         self._joint_name = self._articulation_view._metadata.joint_names[self._joint_idx]
         self._n_dof = self._articulation_view._metadata.joint_dof_counts[self._joint_idx]
@@ -558,7 +558,7 @@ def articulated(self):
         Returns:
              bool: Whether this joint is articulated or not
         """
-        return self._art is not None
+        return self.n_dof > 0
 
     @property
     def is_revolute(self):