Overly Strict Collision Check

[hesic73]

In mplib 0.1.1, there seems to be a minor issue: the planning process assumes collisions are strictly disallowed by default. If a collision is detected, the planning is considered a failure. However, for certain parts of my robot (e.g., a dexterous hand) where collisions are intentionally allowed, the planner incorrectly treats them as failures.

[Lexseal]

Hi! If you try newer versions of the library, we have a matrix in which you can set allowed collision.