Rename p_geom to obj_geom in PlanningWorld::attachObject

include/mplib/planning_world.h

@@ -287,13 +287,13 @@ class PlanningWorldTpl {
    * As a result, all previous ``acm_`` entries with the object are removed
    *
    * @param name: name of the non-articulated object to attach
-   * @param p_geom: pointer to a CollisionGeometry object
+   * @param obj_geom: pointer to a CollisionGeometry object
    * @param art_name: name of the planned articulation to attach to
    * @param link_id: index of the link of the planned articulation to attach to
    * @param pose: attached pose (relative pose from attached link to object)
    * @param touch_links: link names that the attached object touches
    */
-  void attachObject(const std::string &name, const CollisionGeometryPtr &p_geom,
+  void attachObject(const std::string &name, const CollisionGeometryPtr &obj_geom,
                     const std::string &art_name, int link_id, const Pose<S> &pose,
                     const std::vector<std::string> &touch_links);
 
@@ -305,12 +305,12 @@ class PlanningWorldTpl {
    * that collide with the object in the current state (auto touch_links).
    *
    * @param name: name of the non-articulated object to attach
-   * @param p_geom: pointer to a CollisionGeometry object
+   * @param obj_geom: pointer to a CollisionGeometry object
    * @param art_name: name of the planned articulation to attach to
    * @param link_id: index of the link of the planned articulation to attach to
    * @param pose: attached pose (relative pose from attached link to object)
    */
-  void attachObject(const std::string &name, const CollisionGeometryPtr &p_geom,
+  void attachObject(const std::string &name, const CollisionGeometryPtr &obj_geom,
                     const std::string &art_name, int link_id, const Pose<S> &pose);
 
   /**

mplib/pymp/__init__.pyi

@@ -491,7 +491,7 @@ class PlanningWorld:
     def attach_object(
         self,
         name: str,
-        p_geom: collision_detection.fcl.CollisionGeometry,
+        obj_geom: collision_detection.fcl.CollisionGeometry,
         art_name: str,
         link_id: int,
         pose: Pose,
@@ -503,7 +503,7 @@ class PlanningWorld:
         As a result, all previous ``acm_`` entries with the object are removed
 
         :param name: name of the non-articulated object to attach
-        :param p_geom: pointer to a CollisionGeometry object
+        :param obj_geom: pointer to a CollisionGeometry object
         :param art_name: name of the planned articulation to attach to
         :param link_id: index of the link of the planned articulation to attach to
         :param pose: attached pose (relative pose from attached link to object)
@@ -513,7 +513,7 @@ class PlanningWorld:
     def attach_object(
         self,
         name: str,
-        p_geom: collision_detection.fcl.CollisionGeometry,
+        obj_geom: collision_detection.fcl.CollisionGeometry,
         art_name: str,
         link_id: int,
         pose: Pose,
@@ -526,7 +526,7 @@ class PlanningWorld:
         object in the current state (auto touch_links).
 
         :param name: name of the non-articulated object to attach
-        :param p_geom: pointer to a CollisionGeometry object
+        :param obj_geom: pointer to a CollisionGeometry object
         :param art_name: name of the planned articulation to attach to
         :param link_id: index of the link of the planned articulation to attach to
         :param pose: attached pose (relative pose from attached link to object)

pybind/docstring/planning_world.h

@@ -166,7 +166,7 @@ pose. This is done by removing the object and then adding and attaching object.
 As a result, all previous ``acm_`` entries with the object are removed
 
 :param name: name of the non-articulated object to attach
-:param p_geom: pointer to a CollisionGeometry object
+:param obj_geom: pointer to a CollisionGeometry object
 :param art_name: name of the planned articulation to attach to
 :param link_id: index of the link of the planned articulation to attach to
 :param pose: attached pose (relative pose from attached link to object)
@@ -181,7 +181,7 @@ Automatically sets touch_links as the name of self links that collide with the
 object in the current state (auto touch_links).
 
 :param name: name of the non-articulated object to attach
-:param p_geom: pointer to a CollisionGeometry object
+:param obj_geom: pointer to a CollisionGeometry object
 :param art_name: name of the planned articulation to attach to
 :param link_id: index of the link of the planned articulation to attach to
 :param pose: attached pose (relative pose from attached link to object))doc";

pybind/pybind_planning_world.cpp

@@ -103,15 +103,16 @@ void build_pyplanning_world(py::module &pymp) {
                              const std::string &, int, const Pose<S> &,
                              const std::vector<std::string> &>(
                &PlanningWorld::attachObject),
-           py::arg("name"), py::arg("p_geom"), py::arg("art_name"), py::arg("link_id"),
-           py::arg("pose"), py::arg("touch_links"),
+           py::arg("name"), py::arg("obj_geom"), py::arg("art_name"),
+           py::arg("link_id"), py::arg("pose"), py::arg("touch_links"),
            DOC(mplib, PlanningWorldTpl, attachObject, 5))
       .def("attach_object",
            py::overload_cast<const std::string &, const CollisionGeometryPtr &,
                              const std::string &, int, const Pose<S> &>(
                &PlanningWorld::attachObject),
-           py::arg("name"), py::arg("p_geom"), py::arg("art_name"), py::arg("link_id"),
-           py::arg("pose"), DOC(mplib, PlanningWorldTpl, attachObject, 6))
+           py::arg("name"), py::arg("obj_geom"), py::arg("art_name"),
+           py::arg("link_id"), py::arg("pose"),
+           DOC(mplib, PlanningWorldTpl, attachObject, 6))
       .def("attach_sphere", &PlanningWorld::attachSphere, py::arg("radius"),
            py::arg("art_name"), py::arg("link_id"), py::arg("pose"),
            DOC(mplib, PlanningWorldTpl, attachSphere))

src/planning_world.cpp

@@ -177,22 +177,22 @@ void PlanningWorldTpl<S>::attachObject(const std::string &name,
 
 template <typename S>
 void PlanningWorldTpl<S>::attachObject(const std::string &name,
-                                       const CollisionGeometryPtr &p_geom,
+                                       const CollisionGeometryPtr &obj_geom,
                                        const std::string &art_name, int link_id,
                                        const Pose<S> &pose,
                                        const std::vector<std::string> &touch_links) {
   removeObject(name);
-  addObject(name, std::make_shared<CollisionObject>(p_geom));
+  addObject(name, std::make_shared<CollisionObject>(obj_geom));
   attachObject(name, art_name, link_id, pose, touch_links);
 }
 
 template <typename S>
 void PlanningWorldTpl<S>::attachObject(const std::string &name,
-                                       const CollisionGeometryPtr &p_geom,
+                                       const CollisionGeometryPtr &obj_geom,
                                        const std::string &art_name, int link_id,
                                        const Pose<S> &pose) {
   removeObject(name);
-  addObject(name, std::make_shared<CollisionObject>(p_geom));
+  addObject(name, std::make_shared<CollisionObject>(obj_geom));
   attachObject(name, art_name, link_id, pose);
 }