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updating docs
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6 files changed

+9
-24
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docs/examples/03_backends_ros/files/02_forward_kinematics.py

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,10 +4,7 @@
44
robot = Robot()
55
configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
66

7-
frame_RCF = robot.forward_kinematics(configuration)
8-
frame_WCF = robot.to_world_coords(frame_RCF)
7+
frame_WCF = robot.forward_kinematics(configuration)
98

10-
print("Frame in the robot's coordinate system")
11-
print(frame_RCF)
129
print("Frame in the world coordinate system")
1310
print(frame_WCF)

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

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,7 @@
66
robot = Robot(client)
77
configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
88

9-
frame_RCF = robot.forward_kinematics(configuration)
10-
frame_WCF = robot.to_world_coords(frame_RCF)
9+
frame_WCF = robot.forward_kinematics(configuration)
1110

12-
print("Frame in the robot's coordinate system")
13-
print(frame_RCF)
1411
print("Frame in the world coordinate system")
1512
print(frame_WCF)

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

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,7 @@
66

77
configuration = Configuration.from_prismatic_and_revolute_values([0.], [-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
88

9-
frame_RCF = robot.forward_kinematics(configuration)
10-
frame_WCF = robot.to_world_coords(frame_RCF)
9+
frame_WCF = robot.forward_kinematics(configuration)
1110

12-
print("Frame in the robot's coordinate system")
13-
print(frame_RCF)
1411
print("Frame in the world coordinate system")
1512
print(frame_WCF)

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

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -17,8 +17,7 @@
1717

1818
if robot and robot.client and full_configuration:
1919
if robot.client.is_connected:
20-
frame_RCF = robot.forward_kinematics(full_configuration, group, backend='model')
21-
frame_WCF = robot.to_world_coords(frame_RCF, group)
20+
frame_WCF = robot.forward_kinematics(full_configuration, group, backend='model')
2221
print(frame_WCF)
2322
else:
2423
print("Robot is not connected")

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

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -42,6 +42,5 @@
4242
base_frame_WCF = robot.get_base_frame(group, full_configuration)
4343

4444
if show_end_effector_frame:
45-
ee_frame_RCF = robot.forward_kinematics(full_configuration, group=group, backend='model')
46-
ee_frame_WCF = robot.to_world_coords(ee_frame_RCF, group=group)
45+
ee_frame_WCF = robot.get_end_effector_frame(group, full_configuration)
4746
print("End-effector", ee_frame_WCF)

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

Lines changed: 4 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3674,8 +3674,7 @@ LOGGER = logging.getLogger('roslibpy')
36743674

36753675
if robot and robot.client and full_configuration:
36763676
if robot.client.is_connected:
3677-
frame_RCF = robot.forward_kinematics(full_configuration, group, backend='model')
3678-
frame_WCF = robot.to_world_coords(frame_RCF, group)
3677+
frame_WCF = robot.forward_kinematics(full_configuration, group, backend='model')
36793678
print(frame_WCF)
36803679
else:
36813680
print("Robot is not connected")
@@ -14528,8 +14527,7 @@ frames = []
1452814527
if robot:
1452914528
for c in full_configurations:
1453014529
if c:
14531-
frame_RCF = robot.forward_kinematics(c, group, backend='model')
14532-
frame_WCF = robot.to_world_coords(frame_RCF, group)
14530+
frame_WCF = robot.forward_kinematics(c, group, backend='model')
1453314531
frames.append(frame_WCF)
1453414532

1453514533
P = [rg.Point3d(*list(frame.point)) for frame in frames]</item>
@@ -15440,8 +15438,7 @@ frames = []
1544015438
if robot:
1544115439
for c in full_configurations:
1544215440
if c:
15443-
frame_RCF = robot.forward_kinematics(c, group, backend='model')
15444-
frame_WCF = robot.to_world_coords(frame_RCF, group)
15441+
frame_WCF = robot.forward_kinematics(c, group, backend='model')
1544515442
frames.append(frame_WCF)
1544615443

1544715444
P = [rg.Point3d(*list(frame.point)) for frame in frames]</item>
@@ -15988,8 +15985,7 @@ if robot and full_configuration:
1598815985
base_frame_WCF = robot.get_base_frame(group, full_configuration)
1598915986

1599015987
if show_end_effector_frame:
15991-
ee_frame_RCF = robot.forward_kinematics(full_configuration, group=group, backend='model')
15992-
ee_frame_WCF = robot.to_world_coords(ee_frame_RCF, group=group)
15988+
ee_frame_WCF = robot.get_end_effector_frame(group, full_configuration)
1599315989
print("End-effector", ee_frame_WCF)
1599415990
</item>
1599515991
<item name="Description" type_name="gh_string" type_code="10">Calculates a cartesian motion path (linear in tool space).</item>

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