collision now generates a list of predicates based on arm kinematic model and PlanningScene messages.
collision now generates a list of predicates based on arm kinematic
model and PlanningScene messages.

jhu-lcsr/sp_segmenter,jhu-lcsr/sp_segmenter,ready-robotics/costar_stack,cpaxton/predicator,cpaxton/predicator,jhu-lcsr/sp_segmenter,jhu-lcsr/sp_segmenter