A few RigidContactAPI fixes

omnigibson/object_states/touching.py

@@ -2,7 +2,6 @@
 from omnigibson.object_states.kinematics_mixin import KinematicsMixin
 from omnigibson.object_states.object_state_base import BooleanStateMixin, RelativeObjectState
 from omnigibson.utils.constants import PrimType
-from omnigibson.utils.usd_utils import RigidContactAPI
 
 
 class Touching(KinematicsMixin, RelativeObjectState, BooleanStateMixin):
@@ -20,11 +19,5 @@ def _get_value(self, other):
             return self._check_contact(other, self.obj)
         elif other.prim_type == PrimType.CLOTH:
             return self._check_contact(self.obj, other)
-        # elif not self.obj.kinematic_only and not other.kinematic_only:
-        #     # Use optimized check for rigid bodies
-        #     return RigidContactAPI.in_contact(
-        #         prim_paths_a=[link.prim_path for link in self.obj.links.values()],
-        #         prim_paths_b=[link.prim_path for link in other.links.values()],
-        #     )
         else:
             return self._check_contact(other, self.obj) and self._check_contact(self.obj, other)

omnigibson/transition_rules.py

@@ -25,7 +25,6 @@
 from omnigibson.utils.python_utils import Registerable, classproperty, subclass_factory, torch_delete
 from omnigibson.utils.registry_utils import Registry
 from omnigibson.utils.ui_utils import create_module_logger, disclaimer
-from omnigibson.utils.usd_utils import RigidContactAPI
 
 # Create module logger
 log = create_module_logger(module_name=__name__)

omnigibson/utils/usd_utils.py

@@ -230,7 +230,7 @@ def get_column_filters(cls):
 
     @classmethod
     def get_max_contact_data_count(cls):
-        return 0
+        return 256
 
     def initialize_view(self):
         """