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fix: Fix wall array and target state synchronization issue when arm picks up objects #20

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fix: Fix wall array and target state synchronization issue when arm picks up objects #20

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13 changes: 13 additions & 0 deletions src/App.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -835,6 +835,15 @@ export default function App() {
if (isAtTarget) {
if (arm.state === 'picking_down') {
if (arm.grabbedObject) {
// Remove from walls array when picked up
const wallIndex = sim.current.walls.indexOf(arm.grabbedObject);
if (wallIndex > -1) {
sim.current.walls.splice(wallIndex, 1);
}
// Check if this is the target and set target to null
if (arm.grabbedObject === sim.current.target) {
sim.current.target = null;
}
arm.gripper.add(arm.grabbedObject);
arm.grabbedObject.position.set(0, 0.35, 0);
}
Expand All @@ -851,6 +860,10 @@ export default function App() {
arm.grabbedObject.position.copy(worldPos);
// Drop to ground level
arm.grabbedObject.position.y = 0.25;
// Add back to walls array when dropped
sim.current.walls.push(arm.grabbedObject);
// Set as target when dropped
sim.current.target = arm.grabbedObject;
arm.grabbedObject = null;
}
arm.state = 'dropping_up';
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