Back to root path

StanfordVL · Dec 13, 2023 · e5dd359 · e5dd359
1 parent 8b8eef5
commit e5dd359
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py
@@ -316,7 +316,9 @@ def articulated(self):
         Returns:
              bool: Whether this prim is articulated or not
         """
-        return self._prim.HasAPI(UsdPhysics.ArticulationRootAPI)
+        # Note that this is not equivalent to self.n_joints > 0 because articulation root path is
+        # overridden by the object classes
+        return self.articulation_root_path is not None
 
     @property
     def articulation_root_path(self):