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Locking the skeleton before collision evaluations #595

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aditya-vk opened this issue Feb 12, 2021 · 0 comments
Open

Locking the skeleton before collision evaluations #595

aditya-vk opened this issue Feb 12, 2021 · 0 comments
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The collision constraint currently does not lock the skeleton before setting the state and evaluating the validity of the state. It looks like the hand frequently falls off when I run experiments with HERB. Locking the skeleton right before setState() alleviates the issue. I am not sure if we somehow take care of this in our current planning pipeline?
@aditya-vk aditya-vk self-assigned this Feb 12, 2021
@aditya-vk aditya-vk changed the title Hand falls off when collision checking multiple states Locking the skeleton before collision evaluations Feb 12, 2021
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