Update README and ur10_loop.py

Author: ManifoldFR

README.md

@@ -36,22 +36,23 @@ Here's a Python example:
 ```python
 import example_robot_data as erd
 import pinocchio as pin
-import numpy as np
-from candlewick.multibody import Visualizer, VisualizerConfig
+from candlewick import Visualizer, VisualizerConfig, create_recorder_context
 
 robot = erd.load("ur10")
 model: pin.Model = robot.model
-data: pin.Data = robot.data
-visual_model = robot.visual_model
+visual_model: pin.GeometryModel = robot.visual_model
 
 config = VisualizerConfig()
 config.width = 1280
 config.height = 720
 viz = Visualizer(config, model, visual_model)
 
 q0 = pin.neutral(model)
-viz.setCameraPose(pin.SE3.Identity())
-viz.display(q0)
+viz.addFrameViz(model.getFrameId("tool0"))
+
+with create_recorder_context(viz, "ur10_video.mp4"):
+  while not viz.shouldExit:
+    viz.display(q0)
 ```
 
 

examples/python/ur10_loop.py

@@ -10,34 +10,23 @@
 visual_model = robot.visual_model
 
 config = VisualizerConfig()
-config.width = 1280
-config.height = 720
+config.width = 1920
+config.height = 1080
 viz = Visualizer(config, model, visual_model)
 
-print(
-    "Visualizer has renderer:",
-    viz.renderer,
-    "driver name:",
-    viz.renderer.device.driverName(),
-)
-
 q0 = pin.neutral(model)
 q1 = pin.randomConfiguration(model)
 
 t = 0.0
 dt = 0.02
-M = pin.SE3.Identity()
-ee_name = "ee_link"
-ee_id = model.getFrameId(ee_name)
-print(viz.model)
+viz.addFrameViz(frame_id=model.getFrameId("ee_link"))
 
-for i in range(1000):
+i = 0
+while not viz.shouldExit and i < 1000:
     alpha = np.sin(t)
     q = pin.interpolate(model, q0, q1, alpha)
     pin.framesForwardKinematics(model, data, q)
-    M = data.oMf[ee_id]
-    if viz.shouldExit:
-        break
     viz.display(q)
     time.sleep(dt)
     t += dt
+    i += 1