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tutorials:intermediate:collisions_and_constraints [2015/06/08 13:26]
mpomarlan Collision check resolution info for constrained planning requests.
tutorials:intermediate:collisions_and_constraints [2015/06/18 06:25] (current)
mpomarlan [Allowed Collision Matrix]
Line 194: Line 194:
 </​code>​ </​code>​
  
-A similar effect can be achieved by removing and readding the cube to the planning scene like so: +NOTE: MoveIt! will NOT remove entries ​in the allowed collision matrix when an object is removed ​from the planning scene. For clean removalyou should remember to do this yourself.
- +
-<code lisp> +
-(remove-collision-object "​cube"​) +
-(add-collision-object "​cube"​ tuti:*pose-cube*) +
-</​code>​ +
- +
-because ​MoveIt! will also remove ​acm entries ​associated to a removed ​object (TODO: or willonce a pull request is merged.)+
  
 ===== Constraint checking ===== ===== Constraint checking =====