Locking the skeleton before collision evaluations

personalrobotics / aikido

Artificial Intelligence for Kinematics, Dynamics, and Optimization

https://personalrobotics.github.io/aikido/

BSD 3-Clause "New" or "Revised" License

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Locking the skeleton before collision evaluations #595

Open aditya-vk opened 3 years ago

aditya-vk commented 3 years ago

The collision constraint currently does not lock the skeleton before setting the state and evaluating the validity of the state. It looks like the hand frequently falls off when I run experiments with HERB. Locking the skeleton right before setState() alleviates the issue. I am not sure if we somehow take care of this in our current planning pipeline?