Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)

This commit is contained in:
Robert Haschke 2023-05-05 00:14:06 +02:00
parent 1002d84946
commit 84cb880a9d

View File

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