diff --git a/omnigibson/prims/entity_prim.py b/omnigibson/prims/entity_prim.py
index 4028e1982..6909f4460 100644
--- a/omnigibson/prims/entity_prim.py
+++ b/omnigibson/prims/entity_prim.py
@@ -779,9 +779,9 @@ def get_angular_velocity(self):
 
     def set_position_orientation(self, position=None, orientation=None):
         if position is not None:
-            position = position[None, :]
+            position = np.asarray(position)[None, :]
         if orientation is not None:
-            orientation = orientation[None, :]
+            orientation = np.asarray(orientation)[None, :]
         self._articulation_view.set_world_poses(position, orientation)
         BoundingBoxAPI.clear()
 
@@ -791,9 +791,9 @@ def get_position_orientation(self):
 
     def set_local_pose(self, position=None, orientation=None):
         if position is not None:
-            position = position[None, :]
+            position = np.asarray(position)[None, :]
         if orientation is not None:
-            orientation = orientation[None, :]
+            orientation = np.asarray(orientation)[None, :]
         self._articulation_view.set_local_poses(position, orientation)
         BoundingBoxAPI.clear()
 
diff --git a/omnigibson/prims/rigid_prim.py b/omnigibson/prims/rigid_prim.py
index e31f79154..082e97123 100644
--- a/omnigibson/prims/rigid_prim.py
+++ b/omnigibson/prims/rigid_prim.py
@@ -258,11 +258,11 @@ def get_angular_velocity(self):
 
     def set_position_orientation(self, position=None, orientation=None):
         if position is not None:
-            position = position[None, :]
+            position = np.asarray(position)[None, :]
         if orientation is not None:
             assert np.isclose(np.linalg.norm(orientation), 1, atol=1e-3), \
                 f"{self.prim_path} desired orientation {orientation} is not a unit quaternion."
-            orientation = orientation[None, :]
+            orientation = np.asarray(orientation)[None, :]
         self._rigid_prim_view.set_world_poses(positions=position, orientations=orientation)
 
     def get_position_orientation(self):
@@ -274,9 +274,9 @@ def get_position_orientation(self):
 
     def set_local_pose(self, position=None, orientation=None):
         if position is not None:
-            position = position[None, :]
+            position = np.asarray(position)[None, :]
         if orientation is not None:
-            orientation = orientation[None, :]
+            orientation = np.asarray(orientation)[None, :]
         self._articulation_view.set_local_poses(position, orientation)
 
     def get_local_pose(self):