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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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regrab objects manually in cloned env to set ignore collision list #358

Closed sjavdani closed 7 years ago

sjavdani commented 8 years ago

When cloning, some properties of grabbed objects isn't being set properly (see discussion in #51 ). This just adds some code to manually regrab objects while setting that information properly.

Not sure if the RegrabAll() command right above the code I added is still necessary (again, see discussion in #51 ) but it seems like it might be, so I left it there.

mkoval commented 8 years ago

It seems like RegrabAll should no longer be necessary. Your implementation looks more correct than RegrabAll, which explicitly says that it:

This has the effect of resetting the current collisions any grabbed body makes with the robot into an ignore list.

@psigen: Do you have a test case that fails without the RegrabAll() command? Can you try commenting out the RegrabAll() call to test @sjavdani's new implementation?

sjavdani commented 7 years ago

Messed up the branch, created a new pull request #364 with new branch