Exclude links for planning?

[ruffson]

Hi there,

I would like to exclude certain links of my manipulator when planning. Is there a way to dynamically just maintain an exclusion list that can be updated? I know there is the RemoveLinkCommand command which works but this acts on the whole environment state and straight up removes the link. I would rather just configure the Task or Program. Because I only need to exclude certain links dynamically when calling the service. Is there a way to do this?

[ruffson]

I dug a little bit more into the code and it turns out that there is a command to enable/disable certain links for collision, e.g. like this:

env_->applyCommand(std::make_shared<tesseract_environment::ChangeLinkCollisionEnabledCommand>("some_link", false));