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Merge remote-tracking branch 'origin/feat/curobo' into feat/curobo
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cremebrule committed Sep 18, 2024
2 parents bcea057 + 67d7a9d commit ceb0547
Showing 1 changed file with 9 additions and 9 deletions.
18 changes: 9 additions & 9 deletions omnigibson/action_primitives/curobo.py
Original file line number Diff line number Diff line change
Expand Up @@ -231,15 +231,15 @@ def update_obstacles(self, ignore_paths=None):
obstacles = self._usd_help.get_obstacles_from_stage(
reference_prim_path=self.robot.root_link.prim_path,
ignore_substring=[
self.robot.prim_path, # Don't include robot paths
"/curobo", # Don't include curobo prim
"visual", # Don't include any visuals
"ground_plane", # Don't include ground plane
*ground_paths, # Don't include collisions with any ground-related objects
*METALINK_PREFIXES, # Don't include any metalinks
*ignore_scenes, # Don't include any scenes the robot is not in
*ignore_visual_only, # Don't include any visual-only objects
*ignore_paths, # Don't include any additional specified paths
self.robot.prim_path, # Don't include robot paths
"/curobo", # Don't include curobo prim
"visual", # Don't include any visuals
"ground_plane", # Don't include ground plane
*ground_paths, # Don't include collisions with any ground-related objects
*METALINK_PREFIXES, # Don't include any metalinks
*ignore_scenes, # Don't include any scenes the robot is not in
*ignore_visual_only, # Don't include any visual-only objects
*ignore_paths, # Don't include any additional specified paths
],
).get_collision_check_world()
self.mg.update_world(obstacles)
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