Simplify allowCollisions(object, JMG)

This commit is contained in:
Robert Haschke 2021-11-08 22:26:30 +01:00 committed by Michael Görner
parent aa54de0447
commit 71fab0fbce

View File

@ -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));
}