examples/collision: update Python example

examples/collisions.py

@@ -27,7 +27,7 @@ srdf_filename = "romeo.srdf"
 srdf_model_path = model_path + "/romeo_description/srdf/" + srdf_filename
 
 pin.removeCollisionPairs(model,geom_model,srdf_model_path)
-print("num collision pairs - final:",len(geom_model.collisionPairs))
+print("num collision pairs - after removing useless collision pairs:",len(geom_model.collisionPairs))
 
 # Load reference configuration
 pin.loadReferenceConfigurations(model,srdf_model_path)
@@ -42,6 +42,12 @@ geom_data = pin.GeometryData(geom_model)
 # Compute all the collisions
 pin.computeCollisions(model,data,geom_model,geom_data,q,False)
 
+# Print the status of collision for all collision pairs
+for k in range(len(geom_model.collisionPairs)): 
+  cr = geom_data.collisionResults[k]
+  cp = geom_model.collisionPairs[k]
+  print("collision pair:",cp.first,",",cp.second,"- collision:","Yes" if cr.isCollision() else "No")
+
 # Compute for a single pair of collision
 pin.updateGeometryPlacements(model,data,geom_model,geom_data,q)
 pin.computeCollision(geom_model,geom_data,0)