mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Simplify allowCollisions(object, JMG)
This commit is contained in:
parent
aa54de0447
commit
71fab0fbce
@ -429,9 +429,7 @@ bool PickPlaceTask::init() {
|
||||
*****************************************************/
|
||||
{
|
||||
auto stage = std::make_unique<stages::ModifyPlanningScene>("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));
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user