[OpenRAVE-users] more probelms with the pr2 model

[garratt <ga...@cs...>]

Hi Rosen,

I'm trying to run the a simple planner with openrave on the PR2, but the
planner keeps finding that the robot is in self collision.  It turns
out, the wheels are colliding with the base.  Hilariously, these are the
joints that _never_ need to be collision checked!

Is it possible to disable the checking of collisions on specific joints?
Also, I suppose the wheels need to be made smaller in the model, or at
least something needs to be changed...

Of note: the robot does not seem to have this problem in simulation.
(even though it does _look_ like it is in collision)

I'm attaching a screenshot of the collidiness.

Garratt