updating docs

Author: romanarust

docs/examples/03_backends_ros/files/02_forward_kinematics.py

@@ -4,10 +4,7 @@
 robot = Robot()
 configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
-frame_RCF = robot.forward_kinematics(configuration)
-frame_WCF = robot.to_world_coords(frame_RCF)
+frame_WCF = robot.forward_kinematics(configuration)
 
-print("Frame in the robot's coordinate system")
-print(frame_RCF)
 print("Frame in the world coordinate system")
 print(frame_WCF)

docs/examples/03_backends_ros/files/02_forward_kinematics_ros.py

@@ -6,10 +6,7 @@
     robot = Robot(client)
     configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
-    frame_RCF = robot.forward_kinematics(configuration)
-    frame_WCF = robot.to_world_coords(frame_RCF)
+    frame_WCF = robot.forward_kinematics(configuration)
 
-    print("Frame in the robot's coordinate system")
-    print(frame_RCF)
     print("Frame in the world coordinate system")
     print(frame_WCF)

docs/examples/03_backends_ros/files/02_forward_kinematics_ros_loader.py

@@ -6,10 +6,7 @@
 
     configuration = Configuration.from_prismatic_and_revolute_values([0.], [-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
-    frame_RCF = robot.forward_kinematics(configuration)
-    frame_WCF = robot.to_world_coords(frame_RCF)
+    frame_WCF = robot.forward_kinematics(configuration)
 
-    print("Frame in the robot's coordinate system")
-    print(frame_RCF)
     print("Frame in the world coordinate system")
     print(frame_WCF)

docs/examples/03_backends_ros/files/gh_forward_kinematics.py

@@ -17,8 +17,7 @@
 
 if robot and robot.client and full_configuration:
     if robot.client.is_connected:
-        frame_RCF = robot.forward_kinematics(full_configuration, group, backend='model')
-        frame_WCF = robot.to_world_coords(frame_RCF, group)
+        frame_WCF = robot.forward_kinematics(full_configuration, group, backend='model')
         print(frame_WCF)
     else:
         print("Robot is not connected")

docs/examples/03_backends_ros/files/gh_robot_visualisation.py

@@ -42,6 +42,5 @@
         base_frame_WCF = robot.get_base_frame(group, full_configuration)
 
     if show_end_effector_frame:
-        ee_frame_RCF = robot.forward_kinematics(full_configuration, group=group, backend='model')
-        ee_frame_WCF = robot.to_world_coords(ee_frame_RCF, group=group)
+        ee_frame_WCF = robot.get_end_effector_frame(group, full_configuration)
         print("End-effector", ee_frame_WCF)

docs/examples/03_backends_ros/files/robot-playground.ghx

@@ -3674,8 +3674,7 @@ LOGGER = logging.getLogger('roslibpy')
 
 if robot and robot.client and full_configuration:
     if robot.client.is_connected:
-        frame_RCF = robot.forward_kinematics(full_configuration, group, backend='model')
-        frame_WCF = robot.to_world_coords(frame_RCF, group)
+        frame_WCF = robot.forward_kinematics(full_configuration, group, backend='model')
         print(frame_WCF)
     else:
         print("Robot is not connected")
@@ -14528,8 +14527,7 @@ frames = []
 if robot:
     for c in full_configurations:
         if c:
-            frame_RCF = robot.forward_kinematics(c, group, backend='model')
-            frame_WCF = robot.to_world_coords(frame_RCF, group)
+            frame_WCF = robot.forward_kinematics(c, group, backend='model')
             frames.append(frame_WCF)
 
     P = [rg.Point3d(*list(frame.point)) for frame in frames]</item>
@@ -15440,8 +15438,7 @@ frames = []
 if robot:
     for c in full_configurations:
         if c:
-            frame_RCF = robot.forward_kinematics(c, group, backend='model')
-            frame_WCF = robot.to_world_coords(frame_RCF, group)
+            frame_WCF = robot.forward_kinematics(c, group, backend='model')
             frames.append(frame_WCF)
 
     P = [rg.Point3d(*list(frame.point)) for frame in frames]</item>
@@ -15988,8 +15985,7 @@ if robot and full_configuration:
         base_frame_WCF = robot.get_base_frame(group, full_configuration)
 
     if show_end_effector_frame:
-        ee_frame_RCF = robot.forward_kinematics(full_configuration, group=group, backend='model')
-        ee_frame_WCF = robot.to_world_coords(ee_frame_RCF, group=group)
+        ee_frame_WCF = robot.get_end_effector_frame(group, full_configuration)
         print("End-effector", ee_frame_WCF)
 </item>
                     <item name="Description" type_name="gh_string" type_code="10">Calculates a cartesian motion path (linear in tool space).</item>