updated collision checking example (petercorke#382)

jkaniuka · web-flow · commit 2a8111b10dd0 · 2024-08-16T09:12:44.000+10:00
diff --git a/docs/source/intro.rst b/docs/source/intro.rst
@@ -661,9 +661,9 @@ whole robots, discrete links, and objects in the world. For example a :math:`1
 just one link, of the robot by::
 
     >>> panda = rtb.models.Panda()
-    >>> obstacle = rtb.Box([1, 1, 1], SE3(1, 0, 0)) 
-    >>> iscollision = panda.collided(obstacle) # boolean
-    >>> iscollision = panda.links[0].collided(obstacle)
+    >>> obstacle = Cuboid([1, 1, 1], pose = SE3(1, 0, 0)) 
+    >>> iscollision = panda.iscollided(panda.q, obstacle) # boolean
+    >>> iscollision = panda.links[0].iscollided(obstacle)
 
 
 Additionally, we can compute the minimum Euclidean distance between whole
@@ -777,4 +777,4 @@ References
 .. [SMTB-P] `Spatial Math Toolbox for Python <https://github.com/petercorke/spatialmath-python>`_
 .. [bdsim] `Block diagram simulator for Python <https://github.com/petercorke/bdsim>`_
 .. [neo] `NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulatorshttps://jhavl.github.io/neo>`_
-.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021.
+.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021.
