From 84cb880a9d8eceb102fce8d46dda7671ac0bf724 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 5 May 2023 00:14:06 +0200 Subject: [PATCH] Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool) --- core/python/bindings/src/stages.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/core/python/bindings/src/stages.cpp b/core/python/bindings/src/stages.cpp index 01d3e9f6..fa134efa 100644 --- a/core/python/bindings/src/stages.cpp +++ b/core/python/bindings/src/stages.cpp @@ -105,6 +105,8 @@ void export_stages(pybind11::module& m) { const std::string& attach_link) { self.attachObjects(elementOrList(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(first), elementOrList(second), enable_collision);