From 8933997e818429f758badedd5c8bc997957c1c78 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Thu, 3 Jun 2021 17:06:17 +0100
Subject: [PATCH] Add all collision pairs and remove disabled pairs from SRDF
---
python/example_robot_data/robots_loader.py | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index dd313e6..2893555 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -68,6 +68,16 @@ class RobotLoader(object):
self.srdf_path = join(self.model_path, self.path, self.srdf_subpath, self.srdf_filename)
self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose,
self.has_rotor_parameters, self.ref_posture)
+
+ if pin.WITH_HPP_FCL and pin.WITH_HPP_FCL_BINDINGS:
+ # Add all collision pairs
+ self.robot.collision_model.addAllCollisionPairs()
+
+ # Remove collision pairs per SRDF
+ pin.removeCollisionPairs(self.robot.model, self.robot.collision_model, self.srdf_path, False)
+
+ # Recreate collision data since the collision pairs changed
+ self.robot.collision_data = self.robot.collision_model.createData()
else:
self.srdf_path = None
self.robot.q0 = pin.neutral(self.robot.model)
--
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