Self collision geometries

[florent-lamiraux]

In some robots like Franka Emika Panda, the URDF file contains some links that are used only for self-collision checking.
Removing collision tests between these links and the regular ones can be done using the srdf disable_collision keyword (although cumbersome).
There is currently no way to disable collision between the self collision links and the environment. Should we implement this here:

hpp-pinocchio/src/urdf/util.cc

Line 48 in bcd11eb

void removeCollisionPairs(const Model& model, GeomModel& geom_model,

by detecting lines like

<disable_collisions link1="panda_link1_sc" link2="universe">

in the SRDF file ?

[florent-lamiraux]

After thinking further, it would not be so simple since when building a composite robot with two such robots, the collisions between the self collision objects of different robots would be difficult to remove.