From 71fab0fbce158811c4c9abc87c51e9b5b9f6774b Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Mon, 8 Nov 2021 22:26:30 +0100 Subject: [PATCH] Simplify allowCollisions(object, JMG) --- demo/src/pick_place_task.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/demo/src/pick_place_task.cpp b/demo/src/pick_place_task.cpp index a980007d..72b3cf69 100644 --- a/demo/src/pick_place_task.cpp +++ b/demo/src/pick_place_task.cpp @@ -429,9 +429,7 @@ bool PickPlaceTask::init() { *****************************************************/ { auto stage = std::make_unique("forbid collision (hand,object)"); - stage->allowCollisions( - object_name_, - t.getRobotModel()->getJointModelGroup(hand_group_name_)->getLinkModelNamesWithCollisionGeometry(), false); + stage->allowCollisions(object_name_, *t.getRobotModel()->getJointModelGroup(hand_group_name_), false); place->insert(std::move(stage)); }