Update tutorial script defaults#347
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Adjust tutorial script defaults on top of main by updating robot joint name patterns, forcing headless setup in selected simulation tutorials, opening the motion generator window explicitly, and removing the outdated tutorial action-switch regression test.
yuecideng
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Pull request overview
Updates simulation/grasp tutorial scripts to align defaults with the branch-only tutorial behavior being brought onto main, including explicit window handling and updated joint-name patterns.
Changes:
- Update grasp tutorial joint-name regex patterns from
JOINT[0-9]toJoint[0-9]. - Force headless initialization in selected sim tutorials and explicitly open the viewer window where needed.
- Remove the tutorial action-switch regression test.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
scripts/tutorials/grasp/grasp_generator.py |
Adjusts UR10 arm joint regex patterns used for drive properties and control parts. |
scripts/tutorials/sim/motion_generator.py |
Switches to headless initialization and explicitly opens the simulation window. |
scripts/tutorials/sim/create_scene.py |
Forces headless initialization (while still conditionally opening a window / recording based on CLI args). |
tests/sim/test_tutorial_action_switch_frequency.py |
Removes the regression test that enforced a shared tutorial action-switch interval. |
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| # Initialize simulation | ||
| sim = SimulationManager(SimulationManagerCfg(headless=False, sim_device="cpu")) | ||
| sim = SimulationManager(SimulationManagerCfg(headless=True, sim_device="cpu")) | ||
| sim.set_manual_update(False) | ||
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| # Robot configuration |
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Description
This PR updates the remaining branch-only tutorial script changes on top of
main.It:
This PR supersedes #345.
Dependencies: None.
Issue reference: None.
Type of change
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Checklist
black .command to format the code base.Verification
pytest tests/sim/test_tutorial_action_switch_frequency.py -v