PyBullet URDF use self collision exclude parent not working

[ARoefer]

Hello,

I noticed that the URDF_USE_SELF_COLLISION_EXCLUDE_PARENT flag doesn't seem to be working anymore in the current version of PyBullet. URDF_USE_SELF_COLLISION seems to work though.

Here is a photo showing two KUKAs initialized with the same joint configurations using the different flags. The configuration puts them in a self-intersecting configuration, which gets resolved for the one using the regular self collision flag (right) but not the other one.

Code to recreate the problem:
self_collision_exclude_parent_bug.zip

[erwincoumans]

Need to look into it. Unfortunately the project lacks resources, so it can take a while.

[erwincoumans]

Until we get to this, you can achieve the same (and more fine-grained) using collision filters.
See 'setCollisionFilterPair' in the PyBullet Quickstart Guide.