Rework stages doc

This commit is contained in:
Robert Haschke 2022-02-02 20:49:58 +01:00
parent 6ffc508225
commit 940a843f05

View File

@ -82,16 +82,15 @@ std::vector<T> elementOrList(const py::object& arg) {
void export_stages(pybind11::module& m) {
// clang-format off
properties::class_<ModifyPlanningScene, Stage>(m, "ModifyPlanningScene", R"(
Allows modification of the planning scene.
Apply modifications to the PlanningScene w/o moving the robot
This stage takes the incoming planning scene and applies previously scheduled changes to it, for example:
- Modify allowed collision matrix, enabling or disabling collision pairs.
- Attach or detach objects to robot links.
- Spawn or remove objects.
* Modify allowed collision matrix, enabling or disabling collision pairs
* Attach or detach objects to robot links
* Add or remove objects
.. literalinclude:: ./../../../demo/scripts/modify_planning_scene.py
:language: python
)")
.def(py::init<const std::string&>(), "name"_a = std::string("modify planning scene"))
.def("attachObject", &ModifyPlanningScene::attachObject, "Attach an object to a robot link", "name"_a, "link"_a)
@ -324,7 +323,6 @@ void export_stages(pybind11::module& m) {
The example below contains a snippet from the :ref:`pick pipeline example<pick>`.
.. literalinclude:: ./../../../demo/scripts/pickplace.py
:language: python
:lines: 48-60
)")