- Issue
  - This commit tries to improve the reported issue1, issue2, and issue3 : #1436
  - Previously, _listNonCollidingLinksWhenGrabbed is asymmetric : the results obtained from grabbedBody1 is not same as the results obtained from grabbedBody2.
  - However, many codes in CheckSelfCollision assumes it's symmetric. The assumption was broken. In addition, such breakage was amplified after #1421.
- Resolution
  - Instead of store the target link like the previous _listNonCollidingLinksWhenGrabbed_, store the information about the link pairs. This is more accurate and the same methodologies as non-adjacent-links in self colision checking.
  - Separate grabbed-grabber link pair and inter-grabbed link pair.
     - grabbed-grabber link pair, e.g. object-robot link pair, still exists in the Grabbed class as before.
     - inter-grabbed link pair now exists in the KinBody class, since if it's held in Grabbed, it becomes inconsistent and asymmetric.
  - Following the same methodologies in #1421, inter-grabbed link pairs are stored as unordered_map, and its key is combined env body indices of two grabbed bodies.

…ating the vector.

…CollidingGrabbedGrabberLinkPairsWhenGrabbed in CheckSelfCollisionChecking

…nkCollisions==false. also share the utilities for CollisioReport update and printing.

…' to clarify meaning.

…kinbody.h

…olCheckAsym

…fixGrabbedSelfColCheckAsym

…fixGrabbedSelfColCheckAsym

…fixGrabbedSelfColCheckAsym

…fixGrabbedSelfColCheckAsym

…fixGrabbedSelfColCheckAsym

…inbodystatesaver.cpp.

…olCheckAsym

…vBodyIndex should be always smaller than the second envBodyIndex to simplify the searching.

…mmetricity.

…olCheckAsym

…changelog.rst

… messages