Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
tutorials:intermediate:collisions_and_constraints [2015/06/08 13:26] – Collision check resolution info for constrained planning requests. mpomarlantutorials:intermediate:collisions_and_constraints [2015/06/18 06:25] (current) – [Allowed Collision Matrix] mpomarlan
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 removal, you 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 will, once a pull request is merged.)+
  
 ===== Constraint checking ===== ===== Constraint checking =====