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Add python bindings for PassThrough
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@ -51,4 +51,5 @@
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#include "stages/modify_planning_scene.h"
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#include "stages/move_relative.h"
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#include "stages/move_to.h"
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#include "stages/passthrough.h"
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#include "stages/predicate_filter.h"
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@ -171,10 +171,6 @@ void export_stages(pybind11::module& m) {
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str: Default joint pose of the active group
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(defines cost of the inverse kinematics).
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)")
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.property<uint32_t>("max_ik_solutions", R"(
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int: Set the maximum number of inverse
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kinematic solutions thats should be generated.
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)")
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.property<uint32_t>("max_ik_solutions", "uint: max number of solutions to return")
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.property<bool>("ignore_collisions", R"(
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bool: Specify if collisions with other members of
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@ -548,6 +544,12 @@ void export_stages(pybind11::module& m) {
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.property<std::string>("grasp", "str: Name of the grasp pose")
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.def(py::init<Stage::pointer&&, const std::string&>(), "pose_generator"_a,
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"name"_a = std::string("ungrasp"));
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properties::class_<PassThrough, Stage>(m, "PassThrough", R"(
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Wrapper which simply forwards all solutions of a child stage,
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allowing the wrapper to redefine costs, w/o loosing original costs.
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)")
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.def(py::init<const std::string&, Stage::pointer&&>(), "name"_a, "stage"_a);
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}
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} // namespace python
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} // namespace moveit
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