{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/718","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/718/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/718/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/718/events","html_url":"https://github.com/RobotLocomotion/drake/issues/718","id":55752827,"number":718,"title":"Avoid self-collisions during IK trajectory generation","user":{"login":"steinachim","id":10604706,"avatar_url":"https://avatars.githubusercontent.com/u/10604706?v=3","gravatar_id":"","url":"https://api.github.com/users/steinachim","html_url":"https://github.com/steinachim","followers_url":"https://api.github.com/users/steinachim/followers","following_url":"https://api.github.com/users/steinachim/following{/other_user}","gists_url":"https://api.github.com/users/steinachim/gists{/gist_id}","starred_url":"https://api.github.com/users/steinachim/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/steinachim/subscriptions","organizations_url":"https://api.github.com/users/steinachim/orgs","repos_url":"https://api.github.com/users/steinachim/repos","events_url":"https://api.github.com/users/steinachim/events{/privacy}","received_events_url":"https://api.github.com/users/steinachim/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-01-28T12:55:18Z","updated_at":"2015-01-29T14:29:03Z","closed_at":null,"body":"Hi everyone,\r\n\r\nwhen using the inverseKinTraj function to generate trajectories, the resulting paths contain self-collisions of the robot that make them infeasible in practice. \r\n\r\nI tried using the AllBodiesClosestDistanceConstraint (with [0, inf] as bounds), but although it worked as expected, the calculation took  6 minutes (as opposed to 5 seconds normally). Is there some middle-ground I am missing? Perhaps some way to ignore bodies that can not collide anyways?\r\n\r\nThanks, \r\nAchim"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/72033149","html_url":"https://github.com/RobotLocomotion/drake/issues/718#issuecomment-72033149","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/718","id":72033149,"user":{"login":"avalenzu","id":2574034,"avatar_url":"https://avatars.githubusercontent.com/u/2574034?v=3","gravatar_id":"","url":"https://api.github.com/users/avalenzu","html_url":"https://github.com/avalenzu","followers_url":"https://api.github.com/users/avalenzu/followers","following_url":"https://api.github.com/users/avalenzu/following{/other_user}","gists_url":"https://api.github.com/users/avalenzu/gists{/gist_id}","starred_url":"https://api.github.com/users/avalenzu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/avalenzu/subscriptions","organizations_url":"https://api.github.com/users/avalenzu/orgs","repos_url":"https://api.github.com/users/avalenzu/repos","events_url":"https://api.github.com/users/avalenzu/events{/privacy}","received_events_url":"https://api.github.com/users/avalenzu/received_events","type":"User","site_admin":false},"created_at":"2015-01-29T14:29:03Z","updated_at":"2015-01-29T14:29:03Z","body":"Do you have terrain in your `RigidBodyManipulator`?\r\n\r\nRe. collision groups: There was a bug in the C++ implementation of `MinDistanceConstraint` that was fixed in de4b9b39dadbb87459a5c59ab92d7ae2024afd58. Prior to that the collision filter groups were not being parsed correctly (or at all really). Can you make sure that you're at least at that revision?"}}