{"action":"closed","issue":{"url":"https://api.github.com/repos/robotology-playground/icub-gazebo/issues/21","labels_url":"https://api.github.com/repos/robotology-playground/icub-gazebo/issues/21/labels{/name}","comments_url":"https://api.github.com/repos/robotology-playground/icub-gazebo/issues/21/comments","events_url":"https://api.github.com/repos/robotology-playground/icub-gazebo/issues/21/events","html_url":"https://github.com/robotology-playground/icub-gazebo/issues/21","id":100296092,"number":21,"title":"enabling self collision","user":{"login":"rlober","id":3417094,"avatar_url":"https://avatars.githubusercontent.com/u/3417094?v=3","gravatar_id":"","url":"https://api.github.com/users/rlober","html_url":"https://github.com/rlober","followers_url":"https://api.github.com/users/rlober/followers","following_url":"https://api.github.com/users/rlober/following{/other_user}","gists_url":"https://api.github.com/users/rlober/gists{/gist_id}","starred_url":"https://api.github.com/users/rlober/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rlober/subscriptions","organizations_url":"https://api.github.com/users/rlober/orgs","repos_url":"https://api.github.com/users/rlober/repos","events_url":"https://api.github.com/users/rlober/events{/privacy}","received_events_url":"https://api.github.com/users/rlober/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-08-11T11:55:42Z","updated_at":"2015-08-11T14:38:07Z","closed_at":"2015-08-11T14:38:07Z","body":"Where should I put the,\r\n```xml\r\n<selfCollide>true</selfCollide>\r\n```\r\ntag in the icub models to enable self collision? I would like to do it for the whole body if possible.\r\n\r\nI haven't been able to find a clear answer on this in the google-sphere.\r\n\r\nThanks\r\nRyan"}}