From 7d6c734ef583f77cc3a9fe75211ef1b33f87f2bf Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Mon, 16 Sep 2024 22:42:01 -0400
Subject: [PATCH] Invalidate contact point cache in all cases.

---
 .../habitat/sims/habitat_simulator/habitat_simulator.py    | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py
index b36a664f1f..187b8eff3a 100644
--- a/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -461,6 +461,8 @@ def _update_agents_state(self) -> bool:
         return is_updated
 
     def reset(self) -> Observations:
+        self._contact_point_cache_time = 0.0
+
         sim_obs = super().reset()
         if self._update_agents_state():
             sim_obs = self.get_sensor_observations()
@@ -515,7 +517,7 @@ def reconfigure(
         ep_info: Optional[Episode] = None,
         should_close_on_new_scene: bool = True,
     ) -> None:
-        # TODO(maksymets): Switch to Habitat-Sim more efficient caching
+        self._contact_point_cache_time = 0.0
         is_same_scene = habitat_config.scene == self._current_scene
         self.habitat_config = habitat_config
         self.sim_config = self.create_sim_config(self._sensor_suite)
@@ -700,6 +702,9 @@ def get_observations_at(
         else:
             return None
 
+    def perform_discrete_collision_detection(self) -> None:
+        self._contact_point_cache_time = 0.0
+
     def get_physics_contact_points(self) -> List[ContactPointData]:
         sim_time = self.get_world_time()
         contact_points_dirty = sim_time != self._contact_point_cache_time