Fix base class for container stages Pick, Place, SimpleGrasp, SimpleUnGrasp

This commit is contained in:
Robert Haschke 2022-12-08 08:59:41 +01:00
parent 2cf4f8f046
commit 7200bbbfb1

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@ -387,7 +387,7 @@ void export_stages(pybind11::module& m) {
)")
.def(py::init<const std::string&>(), "name"_a);
properties::class_<Pick, Stage>(m, "Pick", R"(
properties::class_<Pick, SerialContainer>(m, "Pick", R"(
The Pick stage is a specialization of the PickPlaceBase class, which
wraps the pipeline to pick or place an object with a given end effector.
@ -430,7 +430,7 @@ void export_stages(pybind11::module& m) {
The lifting motion away from the grasping state is represented by its destination as joint-value pairs
)", "place"_a);
properties::class_<Place, Stage>(m, "Place", R"(
properties::class_<Place, SerialContainer>(m, "Place", R"(
The Place stage is a specialization of the PickPlaceBase class, which
wraps the pipeline to pick or place an object with a given end effector.
@ -473,7 +473,7 @@ void export_stages(pybind11::module& m) {
.def(py::init<Stage::pointer&&, const std::string&>(), "place_generator"_a,
"name"_a = std::string("place"));
properties::class_<SimpleGrasp, Stage>(m, "SimpleGrasp", R"(
properties::class_<SimpleGrasp, SerialContainer>(m, "SimpleGrasp", R"(
Specialization of SimpleGraspBase to realize grasping.
Take a look at the :ref:`Pick and Place Tutorial <subsec-tut-pick-place>` for an in-depth look,
@ -514,7 +514,7 @@ void export_stages(pybind11::module& m) {
should be computed.
)", "max_ik_solutions"_a);
properties::class_<SimpleUnGrasp, Stage>(m, "SimpleUnGrasp", R"(
properties::class_<SimpleUnGrasp, SerialContainer>(m, "SimpleUnGrasp", R"(
Specialization of SimpleGraspBase to realize ungrasping
Take a look at the :ref:`Pick and Place Tutorial <subsec-tut-pick-place>` for an in-depth look,