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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Maintain active geometry group name #1333

Closed eisoku9618 closed 9 months ago

eisoku9618 commented 10 months ago

So that CollisionChecker.GetBodyGeometryGroup() returns group name correctly.

eisoku9618 commented 10 months ago

I found an issue, so mark this as Draft.

eisoku9618 commented 10 months ago

fixed

rdiankov commented 10 months ago

@eisoku9618 What is the motivation behind this feature? Performance? Bug fixing? Why is this not possible without tracking the active geometry? Keep in mind that the current geometries are not static (ie can change dynamically based on user flow)

eisoku9618 commented 10 months ago

@eisoku9618 What is the motivation behind this feature? Performance? Bug fixing? Why is this not possible without tracking the active geometry? Keep in mind that the current geometries are not static (ie can change dynamically based on user flow)

@rdiankov The motivation is performance (planningcommon:!2459 is the main PR relying on this change) when switching padded geometry and non padded geometry. I just discussed this MR with @kanbouchou and found room for improvement. Let me work on this more.

kanbouchou commented 10 months ago

@eisoku9618 this looks good, but is this still draft? can you update the status if you don't have any more change?

kanbouchou commented 10 months ago

@rdiankov could you review this together with application side change? Together with application side change, this improves geometry group switching time a lot.

rdiankov commented 9 months ago

thanks~