Simplify URDF example more

nerfstudio-project · Sep 1, 2024 · c2f1636 · c2f1636
1 parent 3af801c
commit c2f1636
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Showing 2 changed files with 22 additions and 8 deletions.
diff --git a/docs/source/examples/09_urdf_visualizer.rst b/docs/source/examples/09_urdf_visualizer.rst
@@ -64,7 +64,7 @@ and viser. It can also take a path to a local URDF file as input.
 
 
         def main(
-            urdf_path_or_name: Literal[
+            robot_type: Literal[
                 "panda",
                 "ur10",
                 "cassie",
@@ -82,13 +82,20 @@ and viser. It can also take a path to a local URDF file as input.
             server = viser.ViserServer()
 
             # Load URDF.
+            #
+            # This takes either a yourdfpy.URDF object or a path to a .urdf file.
             viser_urdf = ViserUrdf(
                 server,
-                # We could also pass in a Path object to a URDF file here.
-                urdf_or_path=load_robot_description(urdf_path_or_name + "_description"),
+                urdf_or_path=load_robot_description(robot_type + "_description"),
             )
 
-            (slider_handles, initial_config) = create_robot_control_sliders(server, viser_urdf)
+            # Create sliders in GUI that help us move the robot joints.
+            with server.gui.add_folder("Joint position control"):
+                (slider_handles, initial_config) = create_robot_control_sliders(
+                    server, viser_urdf
+                )
+
+            # Set initial robot configuration.
             viser_urdf.update_cfg(onp.array(initial_config))
 
             # Create joint reset button.

diff --git a/examples/09_urdf_visualizer.py b/examples/09_urdf_visualizer.py
@@ -53,7 +53,7 @@ def create_robot_control_sliders(
 
 
 def main(
-    urdf_path_or_name: Literal[
+    robot_type: Literal[
         "panda",
         "ur10",
         "cassie",
@@ -71,13 +71,20 @@ def main(
     server = viser.ViserServer()
 
     # Load URDF.
+    #
+    # This takes either a yourdfpy.URDF object or a path to a .urdf file.
     viser_urdf = ViserUrdf(
         server,
-        # We could also pass in a Path object to a URDF file here.
-        urdf_or_path=load_robot_description(urdf_path_or_name + "_description"),
+        urdf_or_path=load_robot_description(robot_type + "_description"),
     )
 
-    (slider_handles, initial_config) = create_robot_control_sliders(server, viser_urdf)
+    # Create sliders in GUI that help us move the robot joints.
+    with server.gui.add_folder("Joint position control"):
+        (slider_handles, initial_config) = create_robot_control_sliders(
+            server, viser_urdf
+        )
+
+    # Set initial robot configuration.
     viser_urdf.update_cfg(onp.array(initial_config))
 
     # Create joint reset button.