rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

http://www.openrave.org

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Closed kanbouchou closed 1 year ago

kanbouchou commented 1 year ago

Background

With existing way, self collision check can be skipped per link pair via forcedAdjacentLinks.
Some links are to be excluded from self collision check against all other links, and having to specify forcedAdjacentLinks for every other link can be tedious.

Introduce a new link property isSelfCollisionIgnored. If true, this link is not checked in self collision computation at all.
Only FCL and ODE checkers are supported.

rdiankov commented 1 year ago

thanks~