|
| 1 | +{ |
| 2 | + "cells": [ |
| 3 | + { |
| 4 | + "cell_type": "code", |
| 5 | + "execution_count": 1, |
| 6 | + "metadata": { |
| 7 | + "tags": [] |
| 8 | + }, |
| 9 | + "outputs": [], |
| 10 | + "source": [ |
| 11 | + "%matplotlib widget\n", |
| 12 | + "import roboticstoolbox as rp\n", |
| 13 | + "import numpy as np\n", |
| 14 | + "\n", |
| 15 | + "panda = rp.models.DH.Panda()" |
| 16 | + ] |
| 17 | + }, |
| 18 | + { |
| 19 | + "cell_type": "code", |
| 20 | + "execution_count": 2, |
| 21 | + "metadata": { |
| 22 | + "scrolled": true, |
| 23 | + "tags": [] |
| 24 | + }, |
| 25 | + "outputs": [ |
| 26 | + { |
| 27 | + "name": "stdout", |
| 28 | + "output_type": "stream", |
| 29 | + "text": [ |
| 30 | + " \u001b[38;5;1m\u001b[48;5;255m 0.707107 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m 0.707107 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;4m\u001b[48;5;255m 0.088 \u001b[0m\u001b[48;5;255m \u001b[0m\n", |
| 31 | + " \u001b[38;5;1m\u001b[48;5;255m 0.707107 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m-0.707107 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;4m\u001b[48;5;255m 0 \u001b[0m\u001b[48;5;255m \u001b[0m\n", |
| 32 | + " \u001b[38;5;1m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;1m\u001b[48;5;255m-1 \u001b[0m\u001b[38;5;4m\u001b[48;5;255m 0.823 \u001b[0m\u001b[48;5;255m \u001b[0m\n", |
| 33 | + " \u001b[38;5;244m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;244m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;244m\u001b[48;5;255m 0 \u001b[0m\u001b[38;5;244m\u001b[48;5;255m 1 \u001b[0m\u001b[48;5;255m \u001b[0m\n", |
| 34 | + "\n" |
| 35 | + ] |
| 36 | + } |
| 37 | + ], |
| 38 | + "source": [ |
| 39 | + "print(panda.fkine())" |
| 40 | + ] |
| 41 | + }, |
| 42 | + { |
| 43 | + "cell_type": "code", |
| 44 | + "execution_count": 3, |
| 45 | + "metadata": { |
| 46 | + "tags": [] |
| 47 | + }, |
| 48 | + "outputs": [ |
| 49 | + { |
| 50 | + "data": { |
| 51 | + "application/vnd.jupyter.widget-view+json": { |
| 52 | + "model_id": "5311f173c29848c0872ecde54e7c67ba", |
| 53 | + "version_major": 2, |
| 54 | + "version_minor": 0 |
| 55 | + }, |
| 56 | + "text/plain": [ |
| 57 | + "Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …" |
| 58 | + ] |
| 59 | + }, |
| 60 | + "metadata": {}, |
| 61 | + "output_type": "display_data" |
| 62 | + }, |
| 63 | + { |
| 64 | + "data": { |
| 65 | + "text/plain": [ |
| 66 | + "<roboticstoolbox.backend.PyPlot.PyPlot.PyPlot at 0x7fb39e65ee10>" |
| 67 | + ] |
| 68 | + }, |
| 69 | + "execution_count": 3, |
| 70 | + "metadata": {}, |
| 71 | + "output_type": "execute_result" |
| 72 | + } |
| 73 | + ], |
| 74 | + "source": [ |
| 75 | + "panda.teach(block=True)" |
| 76 | + ] |
| 77 | + }, |
| 78 | + { |
| 79 | + "cell_type": "code", |
| 80 | + "execution_count": 5, |
| 81 | + "metadata": {}, |
| 82 | + "outputs": [ |
| 83 | + { |
| 84 | + "data": { |
| 85 | + "application/vnd.jupyter.widget-view+json": { |
| 86 | + "model_id": "abfe9e42b1d34ac3bb698b7e89efe2e9", |
| 87 | + "version_major": 2, |
| 88 | + "version_minor": 0 |
| 89 | + }, |
| 90 | + "text/plain": [ |
| 91 | + "Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …" |
| 92 | + ] |
| 93 | + }, |
| 94 | + "metadata": {}, |
| 95 | + "output_type": "display_data" |
| 96 | + }, |
| 97 | + { |
| 98 | + "data": { |
| 99 | + "text/plain": [ |
| 100 | + "<roboticstoolbox.backend.PyPlot.PyPlot.PyPlot at 0x7fbfd4cc4410>" |
| 101 | + ] |
| 102 | + }, |
| 103 | + "execution_count": 5, |
| 104 | + "metadata": {}, |
| 105 | + "output_type": "execute_result" |
| 106 | + } |
| 107 | + ], |
| 108 | + "source": [ |
| 109 | + "panda.plot(block=False)" |
| 110 | + ] |
| 111 | + }, |
| 112 | + { |
| 113 | + "cell_type": "code", |
| 114 | + "execution_count": null, |
| 115 | + "metadata": {}, |
| 116 | + "outputs": [], |
| 117 | + "source": [] |
| 118 | + } |
| 119 | + ], |
| 120 | + "metadata": { |
| 121 | + "kernelspec": { |
| 122 | + "display_name": "Python 3", |
| 123 | + "language": "python", |
| 124 | + "name": "python3" |
| 125 | + }, |
| 126 | + "language_info": { |
| 127 | + "codemirror_mode": { |
| 128 | + "name": "ipython", |
| 129 | + "version": 3 |
| 130 | + }, |
| 131 | + "file_extension": ".py", |
| 132 | + "mimetype": "text/x-python", |
| 133 | + "name": "python", |
| 134 | + "nbconvert_exporter": "python", |
| 135 | + "pygments_lexer": "ipython3", |
| 136 | + "version": "3.7.6" |
| 137 | + }, |
| 138 | + "toc": { |
| 139 | + "base_numbering": 1, |
| 140 | + "nav_menu": {}, |
| 141 | + "number_sections": true, |
| 142 | + "sideBar": true, |
| 143 | + "skip_h1_title": false, |
| 144 | + "title_cell": "Table of Contents", |
| 145 | + "title_sidebar": "Contents", |
| 146 | + "toc_cell": false, |
| 147 | + "toc_position": {}, |
| 148 | + "toc_section_display": true, |
| 149 | + "toc_window_display": false |
| 150 | + } |
| 151 | + }, |
| 152 | + "nbformat": 4, |
| 153 | + "nbformat_minor": 2 |
| 154 | +} |
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