Skip to content

Commit

Permalink
Merge pull request #104 from stephane-caron/update/pin3
Browse files Browse the repository at this point in the history
Update to Pinocchio 3
  • Loading branch information
stephane-caron authored Jul 23, 2024
2 parents ddebef4 + 6ec0d4d commit 5491beb
Show file tree
Hide file tree
Showing 4 changed files with 7 additions and 5 deletions.
1 change: 1 addition & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ All notable changes to this project will be documented in this file.

- CICD: Update ruff to 0.4.3
- Configuration accepts list of Control Barrier Functions
- Update to Pinocchio 3 with 2.7 backward compatibility

### Fixed

Expand Down
4 changes: 2 additions & 2 deletions doc/conf.py
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
# You can specify multiple suffix as a list of string:
#
# source_suffix = ['.rst', '.md']
source_suffix = ".rst"
source_suffix = {'.rst': 'restructuredtext'}

# The encoding of source files.
#
Expand Down Expand Up @@ -341,7 +341,7 @@
nitpicky = True

nitpick_ignore = [
("py:class", "pinocchio.pinocchio_pywrap.SE3"),
("py:class", "pinocchio.pinocchio_pywrap_default.SE3"),
("py:data", "typing.Optional"),
("py:data", "typing.Tuple"),
("py:data", "typing.Union"),
Expand Down
2 changes: 1 addition & 1 deletion doc/environment.yml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ name: pink
channels:
- conda-forge
dependencies:
- pinocchio <3
- pinocchio >=3.0.0
- pink
- pip >=21.3.1
- pip:
Expand Down
5 changes: 3 additions & 2 deletions pink/visualization.py
Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,12 @@
"""Visualization helpers."""

import pinocchio as pin
from pinocchio import visualize


def start_meshcat_visualizer(
robot: pin.RobotWrapper,
) -> pin.visualize.MeshcatVisualizer:
) -> visualize.MeshcatVisualizer:
"""Open a MeshCat visualizer in a web browser.
Args:
Expand All @@ -20,7 +21,7 @@ def start_meshcat_visualizer(
Returns:
MeshCat visualizer.
"""
viz = pin.visualize.MeshcatVisualizer(
viz = visualize.MeshcatVisualizer(
robot.model, robot.collision_model, robot.visual_model
)
robot.setVisualizer(viz, init=False)
Expand Down

0 comments on commit 5491beb

Please sign in to comment.