Merge branch 'dev' into scene_manip

haosulab · Mar 5, 2024 · 6425e94 · 6425e94
2 parents 283e657 + 24dc542
commit 6425e94
Showing 1 changed file with 5 additions and 8 deletions.
diff --git a/mani_skill2/utils/scene_builder/table/table_scene_builder.py b/mani_skill2/utils/scene_builder/table/table_scene_builder.py
@@ -11,7 +11,6 @@
 from mani_skill2.agents.robots.fetch import FETCH_UNIQUE_COLLISION_BIT
 from mani_skill2.utils.building.ground import build_ground
 from mani_skill2.utils.scene_builder import SceneBuilder
-from mani_skill2.agents.robots.fetch import FETCH_UNIQUE_COLLISION_BIT
 
 class TableSceneBuilder(SceneBuilder):
  robot_init_qpos_noise: float = 0.02
@@ -113,13 +112,11 @@ def initialize(self):
  self.env.agent.robot.set_pose(sapien.Pose([-1.05, 0, -self.table_height]))
 
  # TODO (stao) (arth): is there a better way to model robots in sim. This feels very unintuitive.
- for obj in self.ground._objs:
- cs = obj.find_component_by_type(
- sapien.physx.PhysxRigidStaticComponent
- ).get_collision_shapes()[0]
- cg = cs.get_collision_groups()
- cg[2] |= FETCH_UNIQUE_COLLISION_BIT
- cs.set_collision_groups(cg)
+ for body in self.ground._bodies:
+ for cs in body.get_collision_shapes():
+ cg = cs.get_collision_groups()
+ cg[2] |= FETCH_UNIQUE_COLLISION_BIT
+ cs.set_collision_groups(cg)
  elif self.env.robot_uids == ("panda", "panda"):
  agent: MultiAgent = self.env.agent
  qpos = np.array(