WIP: Revive order of grabbed #1450
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
added 21 commits
September 25, 2024 11:58
- Issue - This commit tries to improve the reported issue1, issue2, and issue3 : #1436 - Previously, _listNonCollidingLinksWhenGrabbed is asymmetric : the results obtained from grabbedBody1 is not same as the results obtained from grabbedBody2. - However, many codes in CheckSelfCollision assumes it's symmetric. The assumption was broken. In addition, such breakage was amplified after #1421. - Resolution - Instead of store the target link like the previous _listNonCollidingLinksWhenGrabbed_, store the information about the link pairs. This is more accurate and the same methodologies as non-adjacent-links in self colision checking. - Separate grabbed-grabber link pair and inter-grabbed link pair. - grabbed-grabber link pair, e.g. object-robot link pair, still exists in the Grabbed class as before. - inter-grabbed link pair now exists in the KinBody class, since if it's held in Grabbed, it becomes inconsistent and asymmetric. - Following the same methodologies in #1421, inter-grabbed link pairs are stored as unordered_map, and its key is combined env body indices of two grabbed bodies.
…ating the vector.
…CollidingGrabbedGrabberLinkPairsWhenGrabbed in CheckSelfCollisionChecking
…nkCollisions==false. also share the utilities for CollisioReport update and printing.
…' to clarify meaning.
…fixGrabbedSelfColCheckAsym
…fixGrabbedSelfColCheckAsym
…fixGrabbedSelfColCheckAsym
…fixGrabbedSelfColCheckAsym
…fixGrabbedSelfColCheckAsym
…inbodystatesaver.cpp.
- Issue - Previously, KinBody remembers the order when the grabbed bodies are grabbed. - However, it's broken since we introduced unordered_map. Especially, listNonCollidingLinksWhenGrabbed computation becomes less deterministic along with its lazy computatoin. - Resolution - Since unordered_map is introduced to improve the performance, not good idea to revive std::vector as its representation. - Instead, introduce the unique id to remember the order when grabbed.
… it means pOtherGrabbed is grabbed later than 'this'. Thus, pOtherGrabbed did not exist when 'this' was grabbed. The results of lazy computation should be same as the result of non-lazy computation. Therefore, we should not compute the inter-grabbed collision checking with pOtherGrabbed. This resolves Issue4 in #1436.
added 7 commits
October 21, 2024 11:07
… reviveOrderOfGrabbed
… reviveOrderOfGrabbed
added 12 commits
October 25, 2024 17:41
…vBodyIndex should be always smaller than the second envBodyIndex to simplify the searching.
…deterministic grabbed self collision checking.
… reviveOrderOfGrabbed
… reviveOrderOfGrabbed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Summary
Issue
A, thenB. WhenAis grabbed, there is noBat all, and thus, no need of considering it inlistNonCollidingLinks. WhenBis grabbed, there isAand need to consider it.unordered_map: Optimize IsGrabbing / ResetGrabbed #1421Issue4in Grabbed, CheckSelfCollision, and unordered grabbed bodies issues. #1436Resolution
unodered_mapis introduced for the performance improvement, it's not good idea to revive other STL containers for the representation.unordered_map, maintain the order by adding the unique id intoGrabbedclass. Such unique id is (mostly) monotonically increasing and represents the order when grabbed.Grabbed::ComputeListNonCollidingLinkswill consider the order when grabbed via the unique id. If other grabbed body has larger unique id, it means it's grabbed later and don't need to compute thelistNonCollidingLinks.