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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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More fix for self-collision checker initialization issues for grabbed bodies. #1325

Closed yoshikikanemoto closed 8 months ago

yoshikikanemoto commented 8 months ago

motivation

  1. Under certain condition, grabbed kinbodies were not initialized in self-collision checker
  2. There was a problem on my previous PR (https://github.com/rdiankov/openrave/pull/1321)

changes

  1. Fix not initializing grabbed bodies to self-collision checker when cloning KinBody, restoring grabbed state from the state saver.
  2. Fix cloning _listNonCollidingLinksWhenGrabbed to different env

test

FYI @Puttichai

rdiankov commented 8 months ago

Thanks