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Hi, regarding the collision for the ActorPlaugin there is a pull request that should solve the bug the allowed collisions only for scripted trajectory, https://bitbucket.org/osrf/gazebo/pull-requests/3108/fix-a-bug-in-actorcc-when-using/diff

Hi, regarding the collision for the ActorPlaugin there is a pull request that should solve the bug the that allowed collisions only for scripted trajectory, https://bitbucket.org/osrf/gazebo/pull-requests/3108/fix-a-bug-in-actorcc-when-using/diff