From 4fad6e1d89eb8b154b732898ded1574cc19931c4 Mon Sep 17 00:00:00 2001 From: Andrew White Date: Mon, 27 Jul 2026 21:05:26 -0500 Subject: [PATCH] fix: grid block mask applies x/y ranges both to rows --- .../omni/ext/mobility_gen/pose_samplers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/pose_samplers.py b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/pose_samplers.py index a4b6d02..7a95d1b 100644 --- a/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/pose_samplers.py +++ b/exts/omni.ext.mobility_gen/omni/ext/mobility_gen/pose_samplers.py @@ -112,8 +112,8 @@ def sample_px(self, occupancy_map: OccupancyMap) -> Pose2d: mask = occupancy_map.freespace_mask() block_mask = np.zeros_like(mask) - block_mask[block_x_min:block_x_min+block_size_px] = True - block_mask[block_y_min:block_y_min+block_size_px] = True + block_mask[:, block_x_min:block_x_min+block_size_px] = True + block_mask[block_y_min:block_y_min+block_size_px, :] = True net_mask = block_mask & mask