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Fix CHOMP DistanceFieldManager field generation to properly disable other kinbodies #315

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merged 3 commits into from
Jul 17, 2016

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cdellin
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@cdellin cdellin commented Jul 16, 2016

When the CHOMP module computes a distance field attached to a kinbody, it does not internally disable other kinbodies during collision checking (this enables multiple bodies to be included in one field, which you often want). However, the DistanceFieldManager assumes that there is one field per kinbody ... but when generating that field, it was not properly disabling other kinbodies. This led to incorrect fields and poor CHOMP performance in prpy. This PR fixes this bug.

if not other_body.IsEnabled():
continue
other_bodies.append(other_body)
other_savers = map(openravepy.KinBodyStateSaver, other_bodies)
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Could you explicitly pass Save_LinkEnable in here?

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@cdellin
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cdellin commented Jul 16, 2016

Comments addressed!

@mkoval mkoval merged commit f7913d9 into master Jul 17, 2016
@mkoval mkoval deleted the bigfix/chomp_fieldmanager_otherbodies branch July 18, 2016 01:25
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2 participants