[BUG FIX] Fix terrain collision detection.#1338
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duburcqa merged 1 commit intoGenesis-Embodied-AI:mainfrom Jun 30, 2025
Merged
[BUG FIX] Fix terrain collision detection.#1338duburcqa merged 1 commit intoGenesis-Embodied-AI:mainfrom
duburcqa merged 1 commit intoGenesis-Embodied-AI:mainfrom
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Description
Motivation and Context
The collision detection algorithm from ANY vs TERRAIN is based on MPR under the hood. This involves dynamically computing the "center" of terrain by is modifying
geoms_info[i_gb].centeron-the-fly. This should be avoided because it creates collisions when dealing with batched environments.This bug was uncovered by passing
cfg_optimization=Falsetotaichi.initmethod. Taichi's optimisations are apparently hiding the bug, possibly because of some temporary variable elision of something. But it should have failed from the start.Related Issue
Related to #1329