{"action":"closed","issue":{"url":"https://api.github.com/repos/bulletphysics/bullet3/issues/1954","repository_url":"https://api.github.com/repos/bulletphysics/bullet3","labels_url":"https://api.github.com/repos/bulletphysics/bullet3/issues/1954/labels{/name}","comments_url":"https://api.github.com/repos/bulletphysics/bullet3/issues/1954/comments","events_url":"https://api.github.com/repos/bulletphysics/bullet3/issues/1954/events","html_url":"https://github.com/bulletphysics/bullet3/issues/1954","id":373766326,"node_id":"MDU6SXNzdWUzNzM3NjYzMjY=","number":1954,"title":"Pybullet collision not detected when reading STL in URDF","user":{"login":"Guptajakala","id":40518028,"node_id":"MDQ6VXNlcjQwNTE4MDI4","avatar_url":"https://avatars3.githubusercontent.com/u/40518028?v=4","gravatar_id":"","url":"https://api.github.com/users/Guptajakala","html_url":"https://github.com/Guptajakala","followers_url":"https://api.github.com/users/Guptajakala/followers","following_url":"https://api.github.com/users/Guptajakala/following{/other_user}","gists_url":"https://api.github.com/users/Guptajakala/gists{/gist_id}","starred_url":"https://api.github.com/users/Guptajakala/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Guptajakala/subscriptions","organizations_url":"https://api.github.com/users/Guptajakala/orgs","repos_url":"https://api.github.com/users/Guptajakala/repos","events_url":"https://api.github.com/users/Guptajakala/events{/privacy}","received_events_url":"https://api.github.com/users/Guptajakala/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-10-25T04:13:01Z","updated_at":"2018-10-27T02:49:34Z","closed_at":"2018-10-27T02:49:34Z","author_association":"NONE","body":"I'm switching to pybullet from gazebo after finding its friendly functions. However, when I'm using the same gripper urdf file and tested in pybullet and gazebo and tried to close the gripper, pybullet cannot detect the collision correctly. I flagged URDF_USE_SELF_COLLISION as:\r\np.loadURDF(filename, pos, quat, flags=p.URDF_USE_SELF_COLLISION)\r\n\r\nIn gazebo:\r\nhttps://drive.google.com/open?id=1oGOGCzv11F7pgGmLpEmy4PfXaUFaMtu2\r\n\r\nIn pybullet:\r\nhttps://drive.google.com/open?id=1K7qY0POYECLg6Dj42ll5EuGl2rNdbE24\r\n\r\nMy project:\r\nhttps://drive.google.com/open?id=1xTBU731nyNXdtrTvGRZFg0UXreHyWK6g\r\n(run main.py can reproduct the problem)\r\n\r\nI really appreciate it if someone could explain so that I can continue using pybullet."}}
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