Change URDF self collision after loading

[marvinalles]

I need to have flags=p.URDF_USE_SELF_COLLISION enabled, though in its standard position the robot end-effector is colliding with one link. Thus, it gets "stuck" if I enable self collision when loading the URDF. The workaround I have in mind is to load the URDF without self collision, change the joint position and enable self collision afterwards. Is there a way to enable the URDF_USE_SELF_COLLISION flag afterwards? If not, do you have any workaround in mind? (I don't like to change the joint in URDF) Thank you!