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Now runs under Python
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robotics-toolbox-python/demo/rtjademo.py

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import robot.parsedemo as p;
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import sys
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print sys.modules
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if __name__ == '__main__':
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#
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# A number of scalar manipulability measures have been proposed. One by
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# Yoshikawa
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maniplty(p560, q, 'yoshikawa')
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manipulability(p560, q, 'yoshikawa')
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#
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# is based purely on kinematic parameters of the manipulator.
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#
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# Another by Asada takes into account the inertia of the manipulator which
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# affects the acceleration achievable in different directions. This measure
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# varies from 0 to 1, where 1 indicates uniformity of acceleration in all
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# directions
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maniplty(p560, q, 'asada')
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manipulability(p560, q, 'asada')
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#
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# Both of these measures would indicate that this particular pose is not well
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# conditioned.

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