Merge pull request #1123 from StanfordVL/fix-meta-geom-path

Fix meta link geom prim path inference

Author: cgokmen

omnigibson/object_states/particle_modifier.py

@@ -348,7 +348,7 @@ def overlap_callback(hit):
                 "height": 1.0,
                 "size": 1.0,
             }
-            mesh_prim_path = f"{self.link.prim_path}/mesh_0"
+            mesh_prim_path = f"{self.link.prim_path}/visuals/mesh_0"
 
             # Create a primitive shape if it doesn't already exist
             pre_existing_mesh = lazy.omni.isaac.core.utils.prims.get_prim_at_path(mesh_prim_path)

omnigibson/object_states/toggle.py

@@ -99,7 +99,7 @@ def _initialize(self):
         # Make sure this object is not cloth
         assert self.obj.prim_type != PrimType.CLOTH, f"Cannot create ToggledOn state for cloth object {self.obj.name}!"
 
-        mesh_prim_path = f"{self.link.prim_path}/mesh_0"
+        mesh_prim_path = f"{self.link.prim_path}/visuals/mesh_0"
         pre_existing_mesh = lazy.omni.isaac.core.utils.prims.get_prim_at_path(mesh_prim_path)
         # Create a primitive mesh if it doesn't already exist
         if not pre_existing_mesh: