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