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[bugfix] - Fix a bug with snap_down on articulated links #1982

Merged
merged 1 commit into from
Jun 21, 2024
Merged

[bugfix] - Fix a bug with snap_down on articulated links #1982

merged 1 commit into from
Jun 21, 2024

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aclegg3
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@aclegg3 aclegg3 commented Jun 18, 2024

Motivation and Context

After #1946, snap_down on links (e.g. drawers) passed the link's object_id alone into support_object_ids. This caused a bug in snap_down because ContactPointData.object_id_a is always the parent object's id. This PR corrects the logic to first acquire the link's object id from ContactPointData.link_id_a before checking against the support_surface_id.

How Has This Been Tested

Locally with viewer app trial and error.

Types of changes

  • [Bug Fix] (non-breaking change which fixes an issue)

Checklist

  • My code follows the code style of this project.
  • I have updated the documentation if required.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes if required.

@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Jun 18, 2024
0mdc
0mdc approved these changes Jun 19, 2024
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LGTM!

@aclegg3 aclegg3 merged commit 49ae519 into main Jun 21, 2024
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@aclegg3 aclegg3 deleted the alex-06_18-snap_down_link_fix branch June 21, 2024 19:59
dannymcy pushed a commit to dannymcy/habitat-lab that referenced this pull request Jun 26, 2024
@aclegg3 @dannymcy
Fix a bug with snap_down on articulated links (facebookresearch#1982)
6d2e356
dannymcy pushed a commit to dannymcy/habitat-lab that referenced this pull request Jul 8, 2024
@aclegg3
Fix a bug with snap_down on articulated links (facebookresearch#1982)
d8d13eb
dannymcy pushed a commit to dannymcy/habitat-lab that referenced this pull request Jul 8, 2024
@aclegg3 @dannymcy
Fix a bug with snap_down on articulated links (facebookresearch#1982)
7fb40ca
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@0mdc 0mdc 0mdc approved these changes

@jturner65 jturner65 Awaiting requested review from jturner65

@xavierpuigf xavierpuigf Awaiting requested review from xavierpuigf

@rutadesai rutadesai Awaiting requested review from rutadesai

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@aclegg3 @0mdc @facebook-github-bot