[WIP] Account for the collision environment cache when moving a collision object #3694
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…atch Usefull when one wants to move the shape, thus saving time by not recreating the complex mesh.
…MOVE action PR moveit#3601 did not account for the cache (or other initialization) when moving an object. Branch to the `createCollisionGeometry` method where the cache is applied, but use the already populated collision geometry instead of recreating from scratch.
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❗ Your organization needs to install the Codecov GitHub app to enable full functionality. Additional details and impacted files@@ Coverage Diff @@
## master #3694 +/- ##
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- Coverage 48.01% 47.91% -0.09%
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Files 605 605
Lines 61228 61332 +104
Branches 7027 7023 -4
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- Hits 29390 29381 -9
- Misses 31417 31530 +113
Partials 421 421 ☔ View full report in Codecov by Sentry. |
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PR #3601 did not account for the cache (or other initialization) when moving an object.
I have a situation where there is a collision between the lid and the pipette (left picture), but when checking closely there is none, e.g. the lid is open ! But at the start of the task, the lid is closed (right picture) and later on moved though the MOVE operation. So I reverted PR 3601 and there were no more errors, but the meshes were all recreated from scratch...
The only thing I can think off is that it used a cached version of the object from the initial state (it could also be my setup). I can reproduce this behaviour on my setup.
This PR now passes a MOVE operation to the
createCollisionGeometrymethod where the local threaded cache is used. Instead of recreating the mesh from scratch it uses the collision geometry already computed from the ADD operation.My first attempt on adding a test could not reproduce the error I see in my setup. Will have to reattempt later.