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compute ik: ignore collisions skips early eef check
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@ -215,6 +215,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
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properties().performInitFrom(INTERFACE, s.start()->properties(), true);
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const auto& props = properties();
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const bool ignore_collisions = props.get<bool>("ignore_collisions");
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const auto& robot_model = sandbox_scene->getRobotModel();
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const moveit::core::JointModelGroup* eef_jmg = nullptr;
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const moveit::core::JointModelGroup* jmg = nullptr;
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@ -276,7 +277,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
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// validate placed link for collisions
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collision_detection::CollisionResult collisions;
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bool colliding = isTargetPoseColliding(sandbox_scene, target_pose, link, &collisions);
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bool colliding = !ignore_collisions && isTargetPoseColliding(sandbox_scene, target_pose, link, &collisions);
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robot_state::RobotState& sandbox_state = sandbox_scene->getCurrentStateNonConst();
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@ -317,7 +318,6 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
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sandbox_scene->getCurrentState().copyJointGroupPositions(jmg, compare_pose);
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IKSolutions ik_solutions;
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bool ignore_collisions = props.get<bool>("ignore_collisions");
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auto isValid = [sandbox_scene, ignore_collisions, &ik_solutions]
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(robot_state::RobotState* state, const robot_model::JointModelGroup* jmg, const double* joint_positions) {
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for (const auto& sol : ik_solutions){
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