toggle wheelchair collision on for MoveToMouth

personalrobotics · Mar 12, 2024 · 6fc8907 · 6fc8907
1 parent 2cc4b68
commit 6fc8907
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/ada_feeding/ada_feeding/trees/move_to_mouth_tree.py b/ada_feeding/ada_feeding/trees/move_to_mouth_tree.py
@@ -47,6 +47,7 @@
     wait_for_secs,
 )
 from ada_feeding.idioms.bite_transfer import (
+    get_toggle_collision_object_behavior,
     get_toggle_face_detection_behavior,
 )
 from ada_feeding.trees import (
@@ -429,6 +430,11 @@ def create_tree(
                         name=name,
                         memory=True,
                         children=[
+                            get_toggle_collision_object_behavior(
+                                name + "AllowWheelchairCollisionScopePre",
+                                [self.wheelchair_collision_object_id],
+                                True,
+                            ),
                             StartServoTree(self._node)
                             .create_tree(name=name + "StartServoScopePre")
                             .root,
@@ -443,6 +449,11 @@ def create_tree(
                             StopServoTree(self._node)
                             .create_tree(name=name + "StopServoScopePost")
                             .root,
+                            get_toggle_collision_object_behavior(
+                                name + "DisallowWheelchairCollisionScopePost",
+                                [self.wheelchair_collision_object_id],
+                                False,
+                            ),
                             pre_moveto_config(
                                 name=name + "PreMoveToConfigScopePost",
                                 re_tare=False,