Documentation #1986
Documentation #1986
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robot.initDisplay(loadModel=True) is deprecated robot.initViewer(loadModel=True) preferred.
Fix broken LaTeX formatting for "using quaternions" title. Fixed grammar, "a SO(3) object" should be "an SO(3) object"
Newer package names available from http://robotpkg.openrobots.org/robotpkg/index.html This is what I used with a fresh install yesterday and everything is working.
Use @ for matrix multiplication. Previous version does not run in 3.10.
skew now in main pinocchio namespace. cross deprecated in current version of pin, np.cross preferred.
semicolons not particularly pythonic
More semicolons cleaned
Using robot_description is probably a bit more future-proof. The current version does not work as the actual path is /opt/openrobots/share/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf
package robotpkg-ur5-description does not exist and robot_wrapper.py does not work out of the box with local path to example-robot-data, throwing an error: '''ValueError: Mesh package://example-robot-data/robots/ur_description/meshes/ur5/collision/base.stl could not be found.'''
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Thanks a lot @drewhamiltonasdf. This looks nice to me. |
No problem. I can go back to some of the earlier docs and update to MeshCat. Is gepetto-gui completely out of favor now? Also wondering if RobotWrapper.py is still the preferred URDF import method for custom URDF's? I'm going to have to dig into loading custom URDF packages eventually... |
Yes, it is no more the way to go. The generic approach relies on Meshcat which is multiplatform and more flexible.
It is a helper class. But for best performances, it is better to rely on a separate model and data, loaded via the custom URDF parser. |
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@drewhamiltonasdf A small suggestion, it would be better to squeeze your commits when they are related to the same change. You can use |
Will do going forward. Thanks! |
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I'm merging this first PR. |
A handful of updates to the documentation to get rid of deprecated python commands etc., a few grammar fixes, missing packages etc.