Skip grab saver for unjointed bodies #1484
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@snozawa Can you approve this? Thanks |
…ver-for-unjointed-bodies
…ver-for-unjointed-bodies
src/libopenrave/kinbodygrab.cpp
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| _listNonCollidingIsValid = false; | ||
| const bool bDisableRestoreOnDestructor = true; // This is very important! These saver are used only in ComputeListNonCollidingLinks and we don't want to restore on destructor. | ||
| static const int saverOptions = KinBody::Save_LinkTransformation | KinBody::Save_LinkEnable | KinBody::Save_JointLimits | KinBody::Save_ConnectedBodies; |
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@rdiankov cc @rschlaikjer While checking this code, I noticed that KinBody::ComputeInverseDynamics doesn't seem to care about grabbed. Is it intentional that ComputeInverseDynamics doesn't consider grabbed?
| _CreateSaverForGrabbedAndGrabber(_pGrabbedSaver, | ||
| pGrabbedBody, | ||
| KinBody::Save_LinkTransformation|KinBody::Save_LinkEnable|KinBody::Save_JointLimits, | ||
| saverOptions, |
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If someone tries to set velocity of a currently grabbed kinbody, should we reject it because its velocity is determined by the grabbing link? If such guarantee exists that body's velocity doesn't get modified while being grabbed, it is fine to not save at the time of grabbing and restore at the time of releasing. @rdiankov @rschlaikjer
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Should be okay if velocity is not saved..
src/libopenrave/kinbodygrab.cpp
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| _listNonCollidingIsValid = false; | ||
| const bool bDisableRestoreOnDestructor = true; // This is very important! These saver are used only in ComputeListNonCollidingLinks and we don't want to restore on destructor. | ||
| static const int saverOptions = KinBody::Save_LinkTransformation | KinBody::Save_LinkEnable | KinBody::Save_JointLimits | KinBody::Save_ConnectedBodies; |
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thanks @rschlaikjer !
Apart from Save_LinkVelocities, why you added Save_ConnectedBodies?
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Also, Save_LinkVelocities are removed from constructor, but still in ComputeListNonCollidingLinks.
Is this just in case?
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Hmm, not sure where that came from - might have been an intermediate change. Since it gets added in _CreateSaverForGrabbedAndGrabber for robots shouldn't be needed as you say, removed.
For velocities, I think you're right - if we don't save/restore it using the grab saver, it should be fine to not save/restore it in ComputeListNonColliding.
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Internal tests re-run and pass using controllercommon MR 1185 pipeline 1072255
…ver-for-unjointed-bodies
…pute non colliding
…ver-for-unjointed-bodies
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thanks~ |
ComputeListNonCollidingLinks(all links are rigidly attached to the grabbing link)ComputeListNonCollidingLinkssavers (has no impact on collision?)ComputeInternalInformation