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Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)
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@ -105,6 +105,8 @@ void export_stages(pybind11::module& m) {
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const std::string& attach_link) {
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self.attachObjects(elementOrList<std::string>(names), attach_link, false);
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}, "Detach multiple objects from a robot link", "names"_a, "attach_link"_a)
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.def("allowCollisions", [](ModifyPlanningScene& self, const std::string& object, bool allow) {self.allowCollisions(object, allow);},
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"Allow or disable all collisions involving the given object", "object"_a, "enable_collision"_a = true)
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.def("allowCollisions", [](ModifyPlanningScene& self,
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const py::object& first, const py::object& second, bool enable_collision) {
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self.allowCollisions(elementOrList<std::string>(first), elementOrList<std::string>(second), enable_collision);
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