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MTC功能包
This relies on `MoveGroupInterface::constructMotionPlanRequest()` which is not yet upstream. This change is required to directly pass the relevant planning scene in there instead of sending *just the start RobotState* to the action. This allows subtasks to change other aspects of the scene, e.g. allowed collisions or new collision objects. |
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| include/moveit_task_constructor | ||
| src | ||
| .gitignore | ||
| CMakeLists.txt | ||
| package.xml | ||