Cloning of env/kinbody when _listNonCollidingLinksValid is false #1442
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snozawa
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Oct 24, 2024
- Issue - When the new Grabbed instance is created in saver or Clone, the _pGrabbedSaver and _pGrabberSaver of the new Grabbed are different from those of the original Grabbed. - Thus, if isListNonCollidingLinksValid=false, wrong state was used in ComputeListNonCollidingLinks. - Resolution - Copy the consistent states from the original Grabbed to the new Grabbed. - To do so, introduce the constructor of Grabbed to copy the saver states from the original Grabbed. In addition, introduce the constructor of StateSavers to copy the states from the original savers. - If the states are not copy-able, throw exception. Also, this API is very advanced and not expected to be used from the usual users. Thus, make such functionality as the constructor.
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If cloning of env/kinbody when _listNonCollidingLinksValid is false,
Grabbed::_pGrabbedSaverandGrabbed:_pGrabberSaverare different between original env and cloned env.Thus, the computed
_listNonCollidingLinksin the original env is different from the one from the cloned env.We need to restore the saver's information somehow when cloning.
cc: @Puttichai
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