add functions to __init__.py

airo-ugent · Mar 5, 2024 · 72d1a48 · 72d1a48
1 parent 5678647
commit 72d1a48
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/airo_drake/__init__.py b/airo_drake/__init__.py
@@ -8,8 +8,10 @@
 from airo_drake.building.manipulator import add_manipulator
 from airo_drake.building.meshcat import add_meshcat
 from airo_drake.scene import DualArmScene, SingleArmScene
+from airo_drake.time_parametrization.toppra import time_parametrize_toppra
+from airo_drake.trajectory.discretize import discretize_drake_joint_trajectory
 from airo_drake.visualization.frame import visualize_frame
-from airo_drake.visualization.joints import animate_joint_configurations
+from airo_drake.visualization.joints import animate_joint_configurations, animate_joint_trajectory
 
 __all__ = [
     "add_floor",
@@ -20,4 +22,7 @@
     "DualArmScene",
     "visualize_frame",
     "animate_joint_configurations",
+    "animate_joint_trajectory",
+    "time_parametrize_toppra",
+    "discretize_drake_joint_trajectory",
 ]
diff --git a/notebooks/02_visualization.ipynb b/notebooks/02_visualization.ipynb
@@ -238,7 +238,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from airo_drake.time_parametrization.toppra import time_parametrize_toppra\n",
+    "from airo_drake import time_parametrize_toppra\n",
     "import airo_models\n",
     "from pydrake.planning import RobotDiagram\n",
     "\n",
@@ -270,7 +270,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from airo_drake.trajectory.discretize import discretize_drake_joint_trajectory\n",
+    "from airo_drake import discretize_drake_joint_trajectory\n",
     "\n",
     "\n",
     "joint_trajectory_discretized = discretize_drake_joint_trajectory(joint_trajectory)\n",
@@ -295,7 +295,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from airo_drake.visualization.joints import animate_joint_trajectory\n",
+    "from airo_drake import animate_joint_trajectory\n",
     "\n",
     "animate_joint_trajectory(scene.meshcat, scene.robot_diagram, scene.arm_index, joint_trajectory, context)"
    ]