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[BUG FIX] Fix IPC coupler auto-detecting wrong coup_type for Plane entities #2877

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[BUG FIX] Fix IPC coupler auto-detecting wrong coup_type for Plane entities #2877

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6 changes: 4 additions & 2 deletions genesis/engine/couplers/ipc_coupler/coupler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -208,8 +208,10 @@ def _setup_coupling_config(self):
continue
coup_type = entity.material.coup_type
if coup_type is None:
# Auto-select based on entity type
if entity.n_joints > 0:
# Auto-select based on entity type.
# Use n_dofs (not n_joints) so that fixed entities with zero DOFs (e.g. Plane, fixed Box)
# get 'ipc_only' rather than 'external_articulation'.
if entity.n_dofs > 0:
coup_type = "external_articulation" if entity.base_link.is_fixed else "two_way_soft_constraint"
else:
coup_type = "ipc_only"
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