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graspit-simulator / graspit

The GraspIt! simulator
http://graspit-simulator.github.io/
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Disable collisions between body pairs that are in collision by default. #160

Closed a-price closed 4 years ago

a-price commented 4 years ago

I have a robot model (https://github.com/a-price/robotiq_3finger_description) that has geometries in collision in the default state that are not adjacent nodes in the kinematic tree. This PR mimics functionality in e.g. MoveIt that can filter out default collisions (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/urdf_srdf/urdf_srdf_tutorial.html#self-collisions, http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html#step-2-generate-self-collision-matrix). Possibly a better option would be to have a collision checking configuration file.

iretiayo commented 4 years ago

This is a good fix. Thanks for the PR.