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Fixes root view to body view mapping in articulation #497

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merged 2 commits into from
Jun 14, 2024
Merged

Fixes root view to body view mapping in articulation #497

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f932ab8
FIx: set_external_force index bug
JunghwanRo Jun 13, 2024
4c89f79
Merge remote-tracking branch 'upstream/main' into set_external_force_…
JunghwanRo Jun 13, 2024
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2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -821,7 +821,7 @@ def _initialize_impl(self):
prim_paths = self._body_physx_view.prim_paths[: self.num_bodies]
body_view_body_names = [path.split("/")[-1] for path in prim_paths]
# -- mapping from articulation view to body view
self._body_view_ordering = [body_view_body_names.index(name) for name in root_view_body_names]
self._body_view_ordering = [root_view_body_names.index(name) for name in body_view_body_names]
self._body_view_ordering = torch.tensor(self._body_view_ordering, dtype=torch.long, device=self.device)

# log information about the articulation
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