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Simplify allowCollisions(object, JMG)
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@ -429,9 +429,7 @@ bool PickPlaceTask::init() {
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*****************************************************/
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*****************************************************/
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{
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");
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auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");
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stage->allowCollisions(
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stage->allowCollisions(object_name_, *t.getRobotModel()->getJointModelGroup(hand_group_name_), false);
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object_name_,
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t.getRobotModel()->getJointModelGroup(hand_group_name_)->getLinkModelNamesWithCollisionGeometry(), false);
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place->insert(std::move(stage));
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place->insert(std::move(stage));
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}
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}
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