add plot and teach to ETS

petercorke · petercorke · commit d7f8ef4090eb · 2021-04-08T12:38:23.000+10:00
diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py
@@ -929,6 +929,25 @@ def inv(self):
             inv *= et
         return inv
 
+    def plot(self, *args, **kwargs):
+        from roboticstoolbox.robot.ERobot import ERobot, ERobot2
+
+        if isinstance(self, ETS):
+            robot = ERobot(self)
+        else:
+            robot = ERobot2(self)
+
+        robot.plot(*args, **kwargs)
+
+    def teach(self, *args, **kwargs):
+        from roboticstoolbox.robot.ERobot import ERobot, ERobot2
+
+        if isinstance(self, ETS):
+            robot = ERobot(self)
+        else:
+            robot = ERobot2(self)
+
+        robot.teach(*args, **kwargs)
 
 class ETS(BaseETS):
     """
