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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Fix crop margin visualization for cages #1299

Closed seanzhang15 closed 11 months ago

seanzhang15 commented 11 months ago

In https://github.com/rdiankov/openrave/pull/1295, the crop margin visualization is adjusted in the z direction using the geometry's outer extents. However, when the geometry is a cage, the same logic does not apply, and the visualization was still wrong.

This PR fixes the issue by handling both cases explicitly.

rdiankov commented 11 months ago

Thanks