[Python] Added Allowed Collision Matrix to planning scene and optional planning scene during planning #2387
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…l planning scene during planning
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #2387 +/- ##
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- Coverage 50.44% 50.35% -0.08%
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Files 390 390
Lines 31954 31956 +2
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- Hits 16115 16089 -26
- Misses 15839 15867 +28
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moveit_py/src/moveit/moveit_core/planning_scene/planning_scene.cpp
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Added memory management handle
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@peterdavidfagan I've added the return policy and the planning scene argument to line 81. |
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Thanks @JensVanhooydonck, looks good to me. Will test on a robot later today. |
peterdavidfagan
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Oct 16, 2023
henningkayser
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Oct 24, 2023
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Jan 23, 2024
…planning scene during planning (backport #2387) (#2479) (cherry picked from commit 7b621d7) Co-authored-by: Jens Vanhooydonck <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
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Description
Added the ACM to the planning scene object. This allows setting the Allowed Collision Object Matrix.
Also added an optional planning_scene in the Plan function so another planning can be used then the current planning scene. (Can be used as a base for a basic python Task manager)
Checklist