docs: update Swift RRMC example to the AssemblyHandle API - #617
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petercorke wants to merge 1 commit into
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docs: update Swift RRMC example to the AssemblyHandle API#617petercorke wants to merge 1 commit into
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The README's resolved-rate motion control example (and its standalone copy, examples/RRMC_swift.py) predates Swift 2.0's AssemblyHandle refactor: env.add(panda) now returns a handle owning the live q/qd state, and driving the simulation by mutating panda.q/panda.qd directly is deprecated. Worse than a deprecation warning, though: a control loop that reads panda.q back mid-loop (as both these examples do) now reads a permanently stale value, since Swift no longer writes back into the robot object by default -- the robot never converges. Updated both to capture and drive the handle instead.
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Summary
The README's resolved-rate motion control example (and its standalone copy,
examples/RRMC_swift.py) predates Swift 2.0'sAssemblyHandlerefactor:env.add(panda)now returns a handle owning the liveq/qdstate, and driving the simulation by mutatingpanda.q/panda.qddirectly is deprecated.Worse than a deprecation warning, though: a control loop that reads
panda.qback mid-loop (as both these examples do) reads a permanently stale value by default -- Swift doesn't write back into the robot object unless the deprecated path is explicitly engaged (see companion Swift PR jhavl/swift#129). The robot never converges.Updated both to capture and drive the handle instead -- the currently-correct way to write this example regardless of that Swift-side fix.
examples/RRMC.py(PyPlot backend, not Swift) is unaffected -- untouched.examples/branched_robot.pyuses the same deprecatedr.qd[...] = ...legacy-mutation style but is a functional non-issue once jhavl/swift#129 lands; left as-is rather than expanding scope here.Test plan
warnings.simplefilter("error"): converges in 43 steps, zero warnings,pandaitself stays untouched (confirming it's a genuinely plain, shareable model)