Disable collision checking in CV Mode

[kshitijgoel007]

I am trying to disable collision checking, both between multiple pawns and pawn with the environment. I am currently using Python Client and running all the vehicles in CV Mode. How do I disable all the collision checking functionality? (I have my own collision checker that I want to test)

[sytelus]

Try putting "EnableCollisionPassthrogh": true in settings.json root and let us know if it works.

[kshitijgoel007]

@sytelus Works, thanks. Closing.

[kshitijgoel007]

Sorry, this doesn't work. I mistakenly evaluated the above with trajectories that didn't have collisions in first place.

[patrickschulte]

I got the same issue. Try to change positions/poses, but it pawn with the environment. The

"EnableCollisionPassthrogh": true command did not help!

[kshitijgoel007]

@sytelus Is there any update on this issue?

[AloshkaD]

@kshitijgoel007 a work around is to write a function that changes the state of the drone/car when a collision is detected. You can easly do that by using the info passed by collisioninfo. Here is a sample from my drone of what collision info passes

"collision_info { 'has_collided': False,
'impact_point': { 'x_val': -0.3316308557987213,
'y_val': 0.3356521427631378,
'z_val': 0.8735041618347168},
'normal': { 'x_val': -9.536425468748e-13,
'y_val': -1.1920131453635154e-19,
'z_val': -1.0},
'object_id': 148,
'object_name': 'Ground_5',
'penetration_depth': 0.0,
'position': { 'x_val': 0.0,
'y_val': 0.0,
'z_val': 0.6751062870025635},
'time_stamp': 1533561354892807936}"

[liqimai]

@sytelus Is there any update on this issue? I want to disable collisions between multiple vehicles but keep collisions with the environment, so that I can simulate tons of cars at the same time to speed up RL training.