Removed RobotModel.dim(). (#156)

facebookresearch · Apr 12, 2022 · 8b11074 · 8b11074
1 parent 8b0b04d
commit 8b11074
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Showing 3 changed files with 2 additions and 9 deletions.
diff --git a/theseus/embodied/collision/collision.py b/theseus/embodied/collision/collision.py
@@ -70,4 +70,4 @@ def _copy_impl(self, new_name: Optional[str] = None) -> "Collision2D":
         )
 
     def dim(self) -> int:
-        return self.robot.dim()
+        return 1
diff --git a/theseus/embodied/collision/eff_obj_contact.py b/theseus/embodied/collision/eff_obj_contact.py
@@ -113,4 +113,4 @@ def _copy_impl(
         )
 
     def dim(self) -> int:
-        return self.robot.dim()
+        return 1
diff --git a/theseus/embodied/kinematics/robot_model.py b/theseus/embodied/kinematics/robot_model.py
@@ -21,10 +21,6 @@ def __init__(self):
     def forward_kinematics(self, robot_pose: RobotModelInput) -> Dict[str, LieGroup]:
         pass
 
-    @abc.abstractmethod
-    def dim(self) -> int:
-        pass
-
 
 class IdentityModel(RobotModel):
     def __init__(self):
@@ -37,6 +33,3 @@ def forward_kinematics(self, robot_pose: RobotModelInput) -> Dict[str, LieGroup]
         raise NotImplementedError(
             f"IdentityModel not implemented for pose with type {type(robot_pose)}."
         )
-
-    def dim(self) -> int:
-        return 1