When the CHOMP module computes a distance field attached to a kinbody, it does not internally disable other kinbodies during collision checking (this enables multiple bodies to be included in one field, which you often want). However, the DistanceFieldManager assumes that there is one field per kinbody ... but when generating that field, it was not properly disabling other kinbodies. This led to incorrect fields and poor CHOMP performance in prpy. This PR fixes this bug.
cdellin
commented
8 years ago
When the CHOMP module computes a distance field attached to a kinbody, it does not internally disable other kinbodies during collision checking (this enables multiple bodies to be included in one field, which you often want). However, the
DistanceFieldManagerassumes that there is one field per kinbody ... but when generating that field, it was not properly disabling other kinbodies. This led to incorrect fields and poor CHOMP performance inprpy. This PR fixes this bug.