Adjust to deprecated Drake code

hanlanqian · Jul 13, 2023 · 6737905 · 6737905
1 parent b3f92de
commit 6737905
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/models/schunk_wsg_50_welded_fingers.sdf b/models/schunk_wsg_50_welded_fingers.sdf
@@ -20,7 +20,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>package://drake/manipulation/models/wsg_50_description/meshes/wsg_body.obj</uri>
+            <uri>package://drake_models/wsg_50_description/meshes/wsg_body.obj</uri>
           </mesh>
         </geometry>
         <material>
@@ -102,7 +102,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>package://drake/manipulation/models/wsg_50_description/meshes/finger_without_tip.obj</uri>
+            <uri>package://drake_models/wsg_50_description/meshes/finger_without_tip.obj</uri>
           </mesh>
         </geometry>
         <material>
@@ -181,7 +181,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>package://drake/manipulation/models/wsg_50_description/meshes/finger_without_tip.obj</uri>
+            <uri>package://drake_models/wsg_50_description/meshes/finger_without_tip.obj</uri>
           </mesh>
         </geometry>
         <material>

diff --git a/reproduction/bimanual/bimanual_iiwa_example.ipynb b/reproduction/bimanual/bimanual_iiwa_example.ipynb
@@ -91,7 +91,7 @@
     "context = diagram.CreateDefaultContext()\n",
     "plant_context = plant.GetMyMutableContextFromRoot(context)\n",
     "sg_context = scene_graph.GetMyMutableContextFromRoot(context)\n",
-    "diagram.Publish(context)"
+    "diagram.ForcedPublish(context)"
    ]
   },
   {

diff --git a/reproduction/bimanual/helpers.py b/reproduction/bimanual/helpers.py
@@ -293,7 +293,7 @@ def runBimanualIK(plant, context, wsg1_id, wsg2_id, wsg1_pose, wsg2_pose,
 def visualizeConfig(diagram, plant, context, q):
     plant_context = plant.GetMyMutableContextFromRoot(context)
     plant.SetPositions(plant_context, q)
-    diagram.Publish(context)
+    diagram.ForcedPublish(context)
 
 def getLinearGcsPath(regions, sequence):
     path = [sequence[0]]
@@ -506,4 +506,4 @@ def generate_segment_pics(traj, segment, meshcat):
                             rgba=Rgba(0, 0, 1, 1))
 
     plant.SetPositions(plant_context, np.concatenate((q_waypoints[:, 0], q_waypoints[:, -1])))
-    diagram.Publish(context)
+    diagram.ForcedPublish(context)
diff --git a/reproduction/prm_comparison/prm_comparison.ipynb b/reproduction/prm_comparison/prm_comparison.ipynb
@@ -95,7 +95,7 @@
     "plant_context = plant.GetMyMutableContextFromRoot(context)\n",
     "q0 =[0, 0.3, 0, -1.8, 0, 1, 1.57]\n",
     "plant.SetPositions(plant_context, q0)\n",
-    "diagram.Publish(context)"
+    "diagram.ForcedPublish(context)"
    ]
   },
   {