Keep the grabbing state while while updateing the grabbed body

rdiankov / openrave

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

http://www.openrave.org

Other

706 stars 344 forks source link

Keep the grabbing state while while updateing the grabbed body #1384

Closed LLipter closed 4 months ago

LLipter commented 5 months ago

When many fields inside a grabbed body are modified through the environment notifier, it is released automatically by openrave. This is because openrave will first delete the body and then add it back if the update result is UFIR_RequireReinitialize. The body is released when deleted from the environment in function _InvalidateKinBodyFromEnvBodyIndex.

Pipeline #831391

rdiankov commented 4 months ago

Please have this change tested and Yoshiki to also take a look, just in case. Thanks

yoshikikanemoto commented 4 months ago

@rdiankov the change looks good to me

rdiankov commented 4 months ago

thanks~