Example run failed #112
Description
the demo in you documentation can not run, please update.
TypeError Traceback (most recent call last)
Cell In[5], line 6
3 import sapien.core as sapien
4 from sapien.utils.viewer import Viewer
----> 6 import mplib
7 from mplib import Pose
10 class DemoSetup:
File ~/miniconda3/envs/noah_hlh/lib/python3.9/site-packages/mplib/init.py:3
1 from importlib.metadata import version
----> 3 from .planner import Planner
4 from .pymp import (
5 ArticulatedModel,
6 AttachedBody,
(...)
9 set_global_seed,
10 )
12 version = version("mplib")
File ~/miniconda3/envs/noah_hlh/lib/python3.9/site-packages/mplib/planner.py:16
14 from .planning.ompl import FixedJoint, OMPLPlanner
15 from .pymp import ArticulatedModel, PlanningWorld, Pose
---> 16 from .urdf_utils import generate_srdf, replace_urdf_package_keyword
19 class Planner:
20 """Motion planner"""
File ~/miniconda3/envs/noah_hlh/lib/python3.9/site-packages/mplib/urdf_utils.py:114
104 _ = ET.SubElement(
105 root,
106 "disable_collisions",
107 attrib={"link1": link1, "link2": link2, "reason": "Never"},
108 )
110 return minidom.parseString(ET.tostring(root)).toprettyxml(indent=" ")
113 def replace_urdf_package_keyword(
--> 114 urdf_path: str | Path,
115 new_package_keyword: str = "",
116 ) -> Path:
117 """
118 Some ROS URDF files use package:// keyword to refer the package dir.
119 Replace it with the given string (default is empty)
(...)
123 :return: Path to the modified URDF file
124 """
125 urdf_path = Path(urdf_path)
TypeError: unsupported operand type(s) for |: 'type' and 'type'