Revert "ModifyPlanningScene: check state for collisions"

This reverts commit 9c05305.
CentralLabFacilities · Jul 9, 2024 · abbe0b7 · abbe0b7
1 parent 702710d
commit abbe0b7
Showing 1 changed file with 0 additions and 11 deletions.
diff --git a/core/src/stages/modify_planning_scene.cpp b/core/src/stages/modify_planning_scene.cpp
@@ -153,17 +153,6 @@ std::pair<InterfaceState, SubTrajectory> ModifyPlanningScene::apply(const Interf
 
 		if (callback_)
 			callback_(scene, properties());
-
-		// check for collisions
-		collision_detection::CollisionRequest req;
-		collision_detection::CollisionResult res;
-		req.contacts = true;
-		req.max_contacts = 1;
-		scene->checkCollision(req, res);
-		if (res.collision) {
-			const auto contact = res.contacts.begin()->second.front();
-			traj.markAsFailure(contact.body_name_1 + " colliding with " + contact.body_name_2);
-		}
 	} catch (const std::exception& e) {
 		traj.markAsFailure(e.what());
 	}