[BUG FIX] Fix IPC coupler auto-detecting wrong coup_type for Plane entities#2877
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liminchen wants to merge 1 commit into
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[BUG FIX] Fix IPC coupler auto-detecting wrong coup_type for Plane entities#2877liminchen wants to merge 1 commit into
liminchen wants to merge 1 commit into
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…tities Primitive morphs (Plane, Box, Sphere, etc.) always create one joint in the rigid entity tree, even when that joint is FIXED (zero DOFs). The previous auto-detection logic used `entity.n_joints > 0` to identify articulated entities, which incorrectly classified a fixed Plane (1 FIXED joint, 0 DOFs) as `external_articulation`. PLANE geoms only support `ipc_only`, so this raised GenesisException at build time whenever a Plane was added to a scene with `IPCCouplerOptions(two_way_coupling=True)` and no explicit `coup_type`. Fix: replace `n_joints > 0` with `n_dofs > 0` in `_setup_coupling_config` so that fixed entities with no actual DOFs (Plane, fixed Box, etc.) correctly receive `ipc_only` rather than `external_articulation`. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Description
A
Planeentity added to a scene withIPCCouplerOptions(two_way_coupling=True)crashed atscene.build()with:Root Cause
Primitive morphs (Plane, Box, Sphere, etc.) always create one joint in the rigid entity tree, even when that joint is FIXED (zero DOFs). The auto-detection logic in
_setup_coupling_configusedentity.n_joints > 0to identify articulated entities, which incorrectly classified a Plane (1 FIXED joint, 0 DOFs) asexternal_articulation(enum value 1). PLANE geoms only supportipc_only, triggering the exception.Fix
Changed
entity.n_joints > 0→entity.n_dofs > 0in_setup_coupling_config. This correctly distinguishes:ipc_onlyexternal_articulationtwo_way_soft_constraintTo Reproduce
Crashes before the fix, runs successfully after.