From 940a843f05aec77416dc280eee9b09217a1c13a4 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Wed, 2 Feb 2022 20:49:58 +0100 Subject: [PATCH] Rework stages doc --- core/python/bindings/src/stages.cpp | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/core/python/bindings/src/stages.cpp b/core/python/bindings/src/stages.cpp index 0a15d0de..a64e3572 100644 --- a/core/python/bindings/src/stages.cpp +++ b/core/python/bindings/src/stages.cpp @@ -82,16 +82,15 @@ std::vector elementOrList(const py::object& arg) { void export_stages(pybind11::module& m) { // clang-format off properties::class_(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(), "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`. .. literalinclude:: ./../../../demo/scripts/pickplace.py - :language: python :lines: 48-60 )")