World Visualization Bug Fix If Objects Removed/Attached #80
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… and instead doing it in plugin_pybullet.py
…d and simplifying marker publishing of "simple objects" e.g. trays, cups and so on
ichumuh
requested changes
Sep 8, 2021
| if object_name not in self.currently_publishing_objects: | ||
| return True | ||
| return False | ||
| object_names = [object_name for object_name, _ in objects_dict.items()] |
src/giskardpy/plugin_pybullet.py
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| @@ -359,6 +359,10 @@ def attach_object(self, req): | |||
| except: | |||
| pass | |||
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| def attach_existing_obj_to_robot(self, name, link, pose): | |||
| self.unsafe_get_world().attach_existing_obj_to_robot(name, link, pose) | |||
| self.remove_object(name) | |||
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This seems weird, the attach_existing_obj_to_robot already removes the object. If you are doing it just to get rid of the marker, you should probably split up the remove_object function.
| # Simple objects (containing only one link) are published here: | ||
| if link_name == object_name and len(object.get_link_names()) == 1: | ||
| marker = object.as_marker_msg() | ||
| markers.append(marker) |
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Doesn't that mean that the marker.id and so on are not being set anymore? Is that intentional?
src/giskardpy/world.py
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| @@ -161,7 +161,6 @@ def attach_existing_obj_to_robot(self, name, link, pose): | |||
| """ | |||
| # TODO this should know the object pose and not require it as input | |||
| self._robot.attach_urdf_object(self.get_object(name), link, pose) | |||
| self.remove_object(name) | |||
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Oh I don't like that. Attaching should definitely remove the object. The world class should work properly on its own.
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@ichumuh Changed above wrt your comments and tested it with |
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thx |
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Basically changing
plugin_world_vis.has_environment_changed(), so it detects if objects were deleted too. Moreover, ignoring of objects having only one link since they are managed fromplugin_pybullet.