diff --git a/core/python/test/test_mtc.py b/core/python/test/test_mtc.py index 15636274..ed878ae2 100644 --- a/core/python/test/test_mtc.py +++ b/core/python/test/test_mtc.py @@ -174,9 +174,10 @@ class TestStages(unittest.TestCase): self._check(stage, "group", "group") self._check(stage, "ik_frame", PoseStamped()) stage.setGoal(PoseStamped()) - # TODO: fails - # stage.setGoal(PointStamped()) + stage.setGoal(PointStamped()) stage.setGoal(RobotState()) + stage.setGoal("named pose") + stage.setGoal(dict(joint1 = 1.0, joint2 = 2.0)) self._check(stage, "path_constraints", Constraints()) def test_MoveRelative(self): diff --git a/core/python/wrapper/src/stages.cpp b/core/python/wrapper/src/stages.cpp index 6ccd4c81..54ceb3ff 100644 --- a/core/python/wrapper/src/stages.cpp +++ b/core/python/wrapper/src/stages.cpp @@ -175,6 +175,7 @@ void export_stages() { .def("setGoal", &MoveTo::setGoal) .def("setGoal", &MoveTo::setGoal) .def("setGoal", &MoveTo::setGoal) + .def&)>("setGoal", &MoveTo::setGoal) .def("setGoal", &MoveTo::setGoal); bp::implicitly_convertible, std::auto_ptr>();