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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
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PyBullet URDF use self collision exclude parent not working #1740

Closed ARoefer closed 3 years ago

ARoefer commented 6 years ago

Hello,

I noticed that the URDF_USE_SELF_COLLISION_EXCLUDE_PARENT flag doesn't seem to be working anymore in the current version of PyBullet. URDF_USE_SELF_COLLISION seems to work though.

Here is a photo showing two KUKAs initialized with the same joint configurations using the different flags. The configuration puts them in a self-intersecting configuration, which gets resolved for the one using the regular self collision flag (right) but not the other one. broken_self_collision_exclude_parent

Code to recreate the problem: self_collision_exclude_parent_bug.zip

erwincoumans commented 6 years ago

Need to look into it. Unfortunately the project lacks resources, so it can take a while.

erwincoumans commented 5 years ago

Until we get to this, you can achieve the same (and more fine-grained) using collision filters. See 'setCollisionFilterPair' in the PyBullet Quickstart Guide.