Fix incorrect initialization of _listNonCollidingLinksWhenGrabbed when other grabbed bodies are modified before Grabbed::ComputeListNonCollidingLinks. - Githubissues

rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

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Fix incorrect initialization of _listNonCollidingLinksWhenGrabbed when other grabbed bodies are modified before Grabbed::ComputeListNonCollidingLinks. #1324

Closed yoshikikanemoto closed 11 months ago

yoshikikanemoto commented 11 months ago

description of the issue

The lazy initialization of Grabbed::_listNonCollidingLinksWhenGrabbed was relying on the state savers including Save_GrabbedBodies generated on creation of the Grabbed instance
Grabbed bodies by the grabber and the grabbed body can be changed / recreated after the Grabbed instance is created and before the initialization of _listNonCollidingLinksWhenGrabbed is triggered and resulted in incorrect _listNonCollidingLinksWhenGrabbed.

change

changed to use the current grabbed bodies when the initialization of _listNonCollidingLinksWhenGrabbed is triggered.

test

added reproduction to testopenrave:fixNonCollidingLinksWhenGrabbedShuffle20231027
Pipeline #660662

@Puttichai

rdiankov commented 11 months ago

Thanks~