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Fix Spot-floating bug #1661

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merged 2 commits into from
Nov 3, 2023
Merged

Fix Spot-floating bug #1661

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db992cc
fix spot floating bug
rpartsey Oct 31, 2023
a8cc5da
using cleaner fix suggested by Eric
rpartsey Nov 2, 2023
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5 changes: 3 additions & 2 deletions habitat-lab/habitat/tasks/rearrange/actions/actions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -417,8 +417,9 @@ def update_base(self):
rigid_state.translation, target_rigid_state.translation
)

# Offset the base
end_pos -= self.cur_articulated_agent.params.base_offset
# Offset the base if the base height is different between end_pos and the current state
if end_pos[1] != rigid_state.translation[1]:
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Have you tested this in a scene with different floor heights? At a glance, it's not really intuitive why this fix is necessary or correct.

end_pos -= self.cur_articulated_agent.params.base_offset

target_trans = mn.Matrix4.from_(
target_rigid_state.rotation.to_matrix(), end_pos
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