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

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merged 1 commit into from
Jun 21, 2024
Merged

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

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61 changes: 39 additions & 22 deletions habitat-lab/habitat/sims/habitat_simulator/sim_utilities.py
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Original file line number Diff line number Diff line change
Expand Up @@ -456,6 +456,8 @@ def snap_down(
To use this utility, generate an initial placement for any object above any of the designated support surfaces and call this function to attempt to snap it onto the nearest surface in the gravity direction.
"""

aom = sim.get_articulated_object_manager()

cached_position = obj.translation

if support_obj_ids is None:
Expand Down Expand Up @@ -484,34 +486,49 @@ def snap_down(
cps = sim.get_physics_contact_points()
for cp in cps:
if (
(
# the object is involved in the contact
cp.object_id_a == obj.object_id
or cp.object_id_b == obj.object_id
)
and not (
# the object is involved in the contact
cp.object_id_a == obj.object_id
or cp.object_id_b == obj.object_id
):
cp_obj_id_a = cp.object_id_a
cp_obj_id_b = cp.object_id_b
if cp.link_id_a > 0:
# object_a is an AO and we need to get the link object id
ao_a = aom.get_object_by_id(cp.object_id_a)
links_to_obj_ids = {
v: k for k, v in ao_a.link_object_ids.items()
}
cp_obj_id_a = links_to_obj_ids[cp.link_id_a]
if cp.link_id_b > 0:
# object_b is an AO and we need to get the link object id
ao_b = aom.get_object_by_id(cp.object_id_b)
links_to_obj_ids = {
v: k for k, v in ao_b.link_object_ids.items()
}
cp_obj_id_b = links_to_obj_ids[cp.link_id_b]

if not (
# the contact does not involve ignored objects
cp.object_id_a in ignore_obj_ids
or cp.object_id_b in ignore_obj_ids
)
and (
(
cp_obj_id_a in ignore_obj_ids
or cp_obj_id_b in ignore_obj_ids
) and (
not (
# contact is not with a support object
cp_obj_id_a in support_obj_ids
or cp_obj_id_b in support_obj_ids
)
or (
# contact exceeds maximum depth
# NOTE: contact depth is negative distance
cp.contact_distance
< (-1 * max_collision_depth)
)
or not (
# contact is not with a support object
cp.object_id_a in support_obj_ids
or cp.object_id_b in support_obj_ids
)
)
):
obj.translation = cached_position
# print(f" Failure: contact in final position w/ distance = {cp.contact_distance}.")
# print(f" Failure: contact in final position with non support object {cp.object_id_a} or {cp.object_id_b}.")
return False
):
obj.translation = cached_position
return False
# print(f" Failure: contact in final position w/ distance = {cp.contact_distance}.")
# print(f" Failure: contact in final position with non support object {cp.object_id_a} or {cp.object_id_b}.")

return True
else:
# no valid position found, reset and return failure
Expand Down