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lab449 / itmobotics_sim

IT's MOre than a roBOTICS SIMulator - The framework for simulating open loop kinematic robots in the best traditions of sim2real concept.
https://itmobotics-sim.readthedocs.io/en/latest/
MIT License
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Problem with URDF_USE_SELF_COLLISION flag #1

Closed Vvlad1slavV closed 1 year ago

Vvlad1slavV commented 1 year ago

https://github.com/ITMORobotics/itmobotics_sim/blob/b336d91c8395f92126e78e5207f8994a9a55bf62/src/itmobotics_sim/pybullet_env/pybullet_robot.py#L292

Usage URDF_USE_SELF_COLLISION can create some BUGs, like mini jumping off model or incorrect model control.

Please add an option to disable URDF_USE_SELF_COLLISION

Vvlad1slavV commented 1 year ago

And here, useFixedBase needs to add an option too

TexnoMann commented 1 year ago

Resolved in PR #17