personalrobotics / openrave Goto Github PK

The way I load the geometry with ReadTrimeshURI ignores scale. I need to either: (1) pass the scale parameter to that function call or (2) scale the result appropriately.

I am witnessing a very confusing Grab() bug:

• The environment just contains a WAM either grabbing or not grabbing a floating cylinder.
• We then create and grab two more cylinders, then immediately release and remove
  them from the environment.
• Repeat the above about 20 times.
• If the WAM is initially grabbing a cylinder, this operation will cause a
  segfault with a weak pointer. If it is not initially grabbing a cylinder, this
  will work fine indefinitely.

Script to replicate:
https://gist.github.com/psigen/35e54f1b6c4fc2fdf36581e8a0d81ef9

Notes:

• @cdellin has reported that rdiankov/openrave master does not seem to have the issue from ~July 2015
• @ClintLiddick has reported that personalrobotics/openrave debian 0.9.2-5 has the bug

There is currently no way to get a list of all geometry groups attached to a link. This is necessary to allow the user to select a group in a GUI.

The python bindings for openravepy.planningutils do not release the Python GIL, meaning that they completely block Python thread execution as long as they are running.

This is particularly bad in the case of long-running operations such as path retiming/smoothing, which can easily take 0.25 to 0.5 seconds.

The following lines are definitely places where one would want to release the GIL:
https://github.com/rdiankov/openrave/blob/master/python/bindings/openravepy_planningutils.cpp#L97
https://github.com/rdiankov/openrave/blob/master/python/bindings/openravepy_planningutils.cpp#L102
https://github.com/rdiankov/openrave/blob/master/python/bindings/openravepy_planningutils.cpp#L107