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Commit add5d3d5 authored by Mayank Mittal's avatar Mayank Mittal
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Fixes bug in checking fixed base of Articulation

parent 588bd36a
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source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py
View file @ add5d3d5
...@@ -410,8 +410,8 @@ class Articulation(RigidObject): ...@@ -410,8 +410,8 @@ class Articulation(RigidObject):
# we check all joints under the root prim and classify the asset as fixed base if there exists # we check all joints under the root prim and classify the asset as fixed base if there exists
# a fixed joint that has only one target (i.e. the root link). # a fixed joint that has only one target (i.e. the root link).
if joint_prim and joint_prim.GetJointEnabledAttr().Get(): if joint_prim and joint_prim.GetJointEnabledAttr().Get():
body_0_exist = joint_prim.GetBody0Rel.GetTargets() != [] body_0_exist = joint_prim.GetBody0Rel().GetTargets() != []
body_1_exist = joint_prim.GetBody1Rel.GetTargets() != [] body_1_exist = joint_prim.GetBody1Rel().GetTargets() != []
if not (body_0_exist and body_1_exist): if not (body_0_exist and body_1_exist):
self._is_fixed_base = True self._is_fixed_base = True
break break
......
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