Need flag to disable baking

[Shushman]

Planning would not raise proper failure exception if baked is turned on.

[cdellin]

What does this mean? What error are you seeing? HerbPy should already initialize its local robot_checker_factory member appropriately depending on the capabilities of the current collision checker (see here).

[gilwoolee]

Oh, sorry. I did not write a good description of what I meant. We would like to see something like CollisionPlanningError during planning, and we were not seeing it when running with --baked. I think @mkoval said he discussed it with you and discovered what was going on; I forgot what it was. @mkoval Could you add to this?

[cdellin]

Sounds good ... I was just trying to parse the original issue report. Yes, I chatted with @mkoval yesterday about this, and currently the baked checker does not correctly fill out the CollisionReport object when a collision is found (detailing which particular geometries caused the free check to fail). But in any case, the code should still correctly raise a CollisionPlanningError (see here). So if you're not seeing the exception being raised correctly, that's a different bug than the report not being filled out correctly.