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‎_modules/roboticstoolbox/backends/PyPlot/PyPlot.html

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -471,10 +471,11 @@ <h1>Source code for roboticstoolbox.backends.PyPlot.PyPlot</h1><div class="highl
471471
<span class="c1"># signal.setitimer(signal.ITIMER_REAL, 0)</span>
472472
<span class="n">plt</span><span class="o">.</span><span class="n">ioff</span><span class="p">()</span>
473473

474-
<span class="k">try</span><span class="p">:</span>
475-
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
476-
<span class="k">except</span> <span class="ne">AttributeError</span><span class="p">:</span>
477-
<span class="k">pass</span></div>
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<span class="c1"># keep stepping the environment while figure is open</span>
475+
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
476+
<span class="k">if</span> <span class="ow">not</span> <span class="n">plt</span><span class="o">.</span><span class="n">fignum_exists</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fig</span><span class="o">.</span><span class="n">number</span><span class="p">):</span>
477+
<span class="k">break</span>
478+
<span class="bp">self</span><span class="o">.</span><span class="n">step</span><span class="p">()</span></div>
478479

479480
<span class="c1">#</span>
480481
<span class="c1"># Private methods</span>
@@ -580,9 +581,6 @@ <h1>Source code for roboticstoolbox.backends.PyPlot.PyPlot</h1><div class="highl
580581

581582
<span class="n">text_trans</span><span class="p">(</span><span class="n">text</span><span class="p">)</span>
582583

583-
<span class="c1"># Step the environment</span>
584-
<span class="bp">self</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
585-
586584
<span class="n">fig</span><span class="o">.</span><span class="n">subplots_adjust</span><span class="p">(</span><span class="n">left</span><span class="o">=</span><span class="mf">0.25</span><span class="p">)</span>
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<span class="n">text</span> <span class="o">=</span> <span class="p">[]</span>
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‎_modules/roboticstoolbox/robot/DHRobot.html

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@@ -171,7 +171,7 @@ <h1>Source code for roboticstoolbox.robot.DHRobot</h1><div class="highlight"><pr
171171
<span class="kn">from</span> <span class="nn">spatialmath.base.argcheck</span> <span class="kn">import</span> \
172172
<span class="n">getvector</span><span class="p">,</span> <span class="n">isscalar</span><span class="p">,</span> <span class="n">verifymatrix</span><span class="p">,</span> <span class="n">getmatrix</span>
173173
<span class="c1"># from spatialmath import base</span>
174-
<span class="kn">from</span> <span class="nn">spatialmath.base.transforms3d</span> <span class="kn">import</span> <span class="n">tr2jac</span><span class="p">,</span> <span class="n">trinv</span>
174+
<span class="kn">from</span> <span class="nn">spatialmath.base.transforms3d</span> <span class="kn">import</span> <span class="n">tr2jac</span>
175175
<span class="kn">from</span> <span class="nn">spatialmath.base.transformsNd</span> <span class="kn">import</span> <span class="n">t2r</span>
176176
<span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">SE3</span><span class="p">,</span> <span class="n">Twist3</span>
177177
<span class="kn">import</span> <span class="nn">spatialmath.base.symbolic</span> <span class="k">as</span> <span class="nn">sym</span>
@@ -1197,7 +1197,7 @@ <h1>Source code for roboticstoolbox.robot.DHRobot</h1><div class="highlight"><pr
11971197
<span class="k">if</span> <span class="n">T</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
11981198
<span class="n">T</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">fkine</span><span class="p">(</span><span class="n">q</span><span class="p">)</span>
11991199

1200-
<span class="k">return</span> <span class="n">tr2jac</span><span class="p">(</span><span class="n">trinv</span><span class="p">(</span><span class="n">T</span><span class="o">.</span><span class="n">A</span><span class="p">))</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">jacobe</span><span class="p">(</span><span class="n">q</span><span class="p">)</span></div>
1200+
<span class="k">return</span> <span class="n">tr2jac</span><span class="p">(</span><span class="n">T</span><span class="o">.</span><span class="n">A</span><span class="p">)</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">jacobe</span><span class="p">(</span><span class="n">q</span><span class="p">)</span></div>
12011201

12021202
<div class="viewcode-block" id="DHRobot.jacob_dot"><a class="viewcode-back" href="../../../arm_dh.html#roboticstoolbox.robot.DHRobot.DHRobot.jacob_dot">[docs]</a> <span class="k">def</span> <span class="nf">jacob_dot</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">q</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">qd</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
12031203
<span class="sa">r</span><span class="sd">&quot;&quot;&quot;</span>

‎_modules/roboticstoolbox/tools/trajectory.html

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -575,7 +575,7 @@ <h1>Source code for roboticstoolbox.tools.trajectory</h1><div class="highlight">
575575
<span class="k">if</span> <span class="n">qd1</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
576576
<span class="n">qd1</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">q0</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
577577
<span class="k">else</span><span class="p">:</span>
578-
<span class="n">qd0</span> <span class="o">=</span> <span class="n">getvector</span><span class="p">(</span><span class="n">qd0</span><span class="p">)</span>
578+
<span class="n">qd1</span> <span class="o">=</span> <span class="n">getvector</span><span class="p">(</span><span class="n">qd1</span><span class="p">)</span>
579579
<span class="k">if</span> <span class="ow">not</span> <span class="nb">len</span><span class="p">(</span><span class="n">qd1</span><span class="p">)</span> <span class="o">==</span> <span class="nb">len</span><span class="p">(</span><span class="n">q0</span><span class="p">):</span>
580580
<span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">&#39;qd1 has wrong size&#39;</span><span class="p">)</span>
581581

@@ -768,7 +768,7 @@ <h1>Source code for roboticstoolbox.tools.trajectory</h1><div class="highlight">
768768
<span class="k">else</span><span class="p">:</span>
769769
<span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="s1">&#39;bad argument for time, must be int or vector&#39;</span><span class="p">)</span>
770770

771-
<span class="k">return</span> <span class="n">T1</span><span class="o">.</span><span class="n">interp</span><span class="p">(</span><span class="n">s</span><span class="p">,</span> <span class="n">start</span><span class="o">=</span><span class="n">T0</span><span class="p">)</span></div>
771+
<span class="k">return</span> <span class="n">T0</span><span class="o">.</span><span class="n">interp</span><span class="p">(</span><span class="n">T1</span><span class="p">,</span> <span class="n">s</span><span class="p">)</span></div>
772772

773773

774774
<div class="viewcode-block" id="cmstraj"><a class="viewcode-back" href="../../../arm_trajectory.html#roboticstoolbox.tools.trajectory.cmstraj">[docs]</a><span class="k">def</span> <span class="nf">cmstraj</span><span class="p">():</span>

‎arm_dh.html

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1271,12 +1271,12 @@ <h2>DHRobot<a class="headerlink" href="#dhrobot" title="Permalink to this headli
12711271
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
12721272
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
12731273
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1274-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1275-
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1276-
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1277-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1278-
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1279-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
1274+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
1275+
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1276+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
1277+
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
1278+
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
1279+
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
12801280
</pre></div>
12811281
</div>
12821282
<p><strong>Trajectory operation</strong></p>

‎arm_erobot.html

Lines changed: 6 additions & 6 deletions
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@@ -1095,12 +1095,12 @@ <h2>ERobot<a class="headerlink" href="#erobot" title="Permalink to this headline
10951095
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
10961096
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
10971097
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1098-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1099-
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1100-
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1101-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1102-
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1103-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
1098+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
1099+
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1100+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
1101+
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
1102+
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
1103+
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
11041104
</pre></div>
11051105
</div>
11061106
<p><strong>Trajectory operation</strong></p>

‎arm_superclass.html

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -763,12 +763,12 @@ <h2>Robot<a class="headerlink" href="#robot" title="Permalink to this headline">
763763
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
764764
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
765765
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
766-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
767-
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
768-
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
769-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
770-
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
771-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
766+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
767+
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
768+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
769+
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
770+
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
771+
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
772772
</pre></div>
773773
</div>
774774
<p><strong>Trajectory operation</strong></p>

‎intro.html

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -575,7 +575,7 @@ <h3>Denavit-Hartenberg parameters<a class="headerlink" href="#denavit-hartenberg
575575

576576
<span class="gp">&gt;&gt;&gt; </span><span class="n">sol</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">ikine_LM</span><span class="p">(</span><span class="n">T</span><span class="p">)</span> <span class="c1"># inverse kinematics</span>
577577
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">sol</span><span class="p">)</span>
578-
<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.514893490954293e-13)</span>
578+
<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.513951146341011e-13)</span>
579579
</pre></div>
580580
</td></tr></table></div>
581581
<p>The Toolbox supports named joint configurations and these are shown in the table
@@ -869,7 +869,7 @@ <h2>Differential kinematics<a class="headerlink" href="#differential-kinematics"
869869
<span class="go">Yoshikawa manipulability is 0.07861716534599998</span>
870870
<span class="gp">&gt;&gt;&gt; </span><span class="n">m</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">manipulability</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qn</span><span class="p">,</span> <span class="n">method</span><span class="o">=</span><span class="s2">&quot;asada&quot;</span><span class="p">)</span>
871871
<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Asada manipulability is&quot;</span><span class="p">,</span> <span class="n">m</span><span class="p">)</span>
872-
<span class="go">Asada manipulability is 0.004374613728166502</span>
872+
<span class="go">Asada manipulability is 0.004374613728166503</span>
873873
</pre></div>
874874
</div>
875875
<p>for the Yoshikawa and Asada measures respectively, and</p>

‎searchindex.js

Lines changed: 1 addition & 1 deletion
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