update examples

jhavl · jhavl · commit d0890eb349bf · 2022-05-11T21:03:06.000+10:00
diff --git a/roboticstoolbox/examples/plot_swift.py b/roboticstoolbox/examples/plot_swift.py
@@ -7,6 +7,3 @@
 
 panda = rp.models.Panda()
 panda.plot(q=panda.qr)
-
-# panda = rp.models.DH.Panda()
-# panda.teach2(q=panda.qr)
diff --git a/roboticstoolbox/examples/puma_jtraj.py b/roboticstoolbox/examples/puma_jtraj.py
@@ -1,49 +1,51 @@
 import roboticstoolbox as rtb
-from spatialmath import *   # lgtm [py/polluting-import]
+from spatialmath import *  # lgtm [py/polluting-import]
 import argparse
 import sys
 
 parser = argparse.ArgumentParser(description="Puma trajectory demo")
 parser.add_argument(
-    '--backend',
-    '-b',
-    dest='backend',
-    default='pyplot',
-    help='choose backend: pyplot (default), swift, vpython',
-    action='store')
+    "--backend",
+    "-b",
+    dest="backend",
+    default="pyplot",
+    help="choose backend: pyplot (default), swift, vpython",
+    action="store",
+)
 parser.add_argument(
-    '--model',
-    '-m',
-    dest='model',
-    default='DH',
-    action='store',
-    help='choose model: DH (default), URDF')
+    "--model",
+    "-m",
+    dest="model",
+    default="DH",
+    action="store",
+    help="choose model: DH (default), URDF",
+)
 args = parser.parse_args()
 
-if args.model.lower() == 'dh':
+if args.model.lower() == "dh":
     robot = rtb.models.DH.Puma560()
-elif args.model.lower() == 'urdf':
-    robot = rtb.models.URDF.Puma560()
+elif args.model.lower() == "urdf":
+    robot = rtb.models.Puma560()
 else:
-    raise ValueError('unknown model')
+    raise ValueError("unknown model")
 
 print(robot)
 
 qt = rtb.tools.trajectory.jtraj(robot.qz, robot.qr, 200)
 
-if args.backend.lower() == 'pyplot':
-    if args.model.lower() != 'dh':
-        print('PyPlot only supports DH models for now')
+if args.backend.lower() == "pyplot":
+    if args.model.lower() != "dh":
+        print("PyPlot only supports DH models for now")
         sys.exit(1)
-elif args.backend.lower() == 'vpython':
-    if args.model.lower() != 'dh':
-        print('VPython only supports DH models for now')
+elif args.backend.lower() == "vpython":
+    if args.model.lower() != "dh":
+        print("VPython only supports DH models for now")
         sys.exit(1)
-elif args.backend.lower() == 'swift':
-    if args.model.lower() != 'urdf':
-        print('Swift only supports URDF models for now')
+elif args.backend.lower() == "swift":
+    if args.model.lower() != "urdf":
+        print("Swift only supports URDF models for now")
         sys.exit(1)
 else:
-    raise ValueError('unknown backend')
+    raise ValueError("unknown backend")
 
 robot.plot(qt.q, backend=args.backend)
diff --git a/roboticstoolbox/examples/puma_swift.py b/roboticstoolbox/examples/puma_swift.py
@@ -14,7 +14,7 @@
 # Create a puma in the default zero pose
 puma = rp.models.Puma560()
 puma.q = puma.qz
-env.add(puma, show_robot=True, show_collision=False)
+env.add(puma, robot_alpha=True, collision_alpha=False)
 
 dt = 0.05
 interp_time = 5
diff --git a/roboticstoolbox/examples/teach_swift.py b/roboticstoolbox/examples/teach_swift.py
@@ -13,7 +13,7 @@
 env.launch()
 
 # Make a Panda robot and add it to Swift
-panda = rtb.models.Panda()
+panda = rtb.models.UR5()
 panda.q = panda.qr
 env.add(panda)
 
