fix example

jhavl · jhavl · commit efa1cd01e70e · 2022-05-11T20:52:53.000+10:00
diff --git a/roboticstoolbox/examples/mexican-wave.py b/roboticstoolbox/examples/mexican-wave.py
@@ -9,25 +9,26 @@
 import numpy as np
 from spatialmath import SE3
 import roboticstoolbox as rtb
-from roboticstoolbox.backends.swift import Swift
+from swift import Swift
 import time
 
-swift = Swift()
-swift.launch()
+env = Swift()
+env.launch()
 
-puma0 = rtb.models.URDF.Puma560()
+puma0 = rtb.models.Puma560()
 pumas = []
 num_robots = 15
 rotation = 2 * np.pi * ((num_robots - 1) / num_robots)
 
+
 for theta in np.linspace(0, rotation, num_robots):
     base = SE3.Rz(theta) * SE3(2, 0, 0)
 
     # Clone the robot
     puma = rtb.ERobot(puma0)
     puma.base = base
     puma.q = puma0.qz
-    swift.add(puma)
+    env.add(puma)
     pumas.append(puma)
 
 # The wave is a Gaussian that moves around the circle
@@ -46,7 +47,7 @@ def gaussian(x, mu, sig):
         k = (t + i * 10) % len(tt)
         puma.q = np.r_[0, g[k], -g[k], 0, 0, 0]
 
-        swift.step(0)
+        env.step(0)
         time.sleep(0.001)
 
     t += 1
