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Added bugfix for cloning grabbed objects. #51

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Feb 15, 2015
Merged

Added bugfix for cloning grabbed objects. #51

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18 changes: 18 additions & 0 deletions src/prpy/clone.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,24 @@ def __init__(self, parent_env, clone_env=None, destroy_on_exit=None,
# PrPy-annotated classes.
setattr(self.clone_env, 'clone_parent', self.clone_parent)

# Due to a bug in the OpenRAVE clone API, we need to regrab
# objects in cloned environments because they might have
# incorrectly computed 'ignore' flags.
# TODO(pkv): Remove this block once OpenRAVE cloning is fixed.
for robot in self.clone_parent.GetRobots():
# Since the new ignore lists are computed from the current
# pose, calling RegrabAll() from a pose that is in
# SelfCollision may incorrectly ignore collisions.
if robot.CheckSelfCollision():
raise CloneException(
'Unable to compute self-collisions correctly. '
'Robot {:s} was cloned while in collision.'
.format(robot.GetName())
)
cloned_robot = self.clone_env.Cloned(robot)
with self.clone_env:
cloned_robot.RegrabAll()

def __enter__(self):
if self.lock:
self.clone_env.Lock()
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