chore(examples): fix broken scripts, remove dead ones, add README

examples/README.md

@@ -0,0 +1,91 @@
+# Examples
+
+Standalone scripts that demonstrate the toolbox. They are not run by the test
+suite; run one directly from the repository root, for example:
+
+```shell
+python examples/puma_jtraj.py
+```
+
+## Requirements
+
+All scripts need the base install, `pip install roboticstoolbox-python`.
+Where a script needs an optional extra it is listed in the table:
+
+| Extra | Install | Provides |
+|---|---|---|
+| `swift` | `pip install roboticstoolbox-python[swift]` | the browser-based Swift visualiser |
+| `qp` | `pip install roboticstoolbox-python[qp]` | `qpsolvers` and `quadprog` for the QP-based controllers |
+| `collision` | `pip install roboticstoolbox-python[collision]` | `coal` and `trimesh` for collision checking. `coal` has no Windows build, so use Linux, macOS or WSL |
+
+`pip install roboticstoolbox-python[all]` installs every extra at once.
+
+## Getting started and plotting
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `readme.py` | The code from the top-level README: DH Panda, IK, a joint trajectory, Swift animation | swift |
+| `plot.py` | DH Panda animated through random joint angles with velocity and force ellipsoids, matplotlib backend | |
+| `plot_swift.py` | Minimal: load the URDF Panda and plot it | swift |
+| `puma_swift.py` | URDF Puma 560 interpolating between its named configurations in Swift | swift |
+| `robots.py` | Loads a dozen URDF models side by side in Swift | swift |
+| `teach.py` | Interactive teach pendant on the DH Panda, matplotlib backend | |
+| `teach_swift.py` | Hand-rolled Swift teach panel; a template for custom slider UIs | swift |
+| `mexican-wave.py` | Fifteen cloned Pumas doing a wave in Swift | swift |
+
+## Trajectories and dynamics
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `puma_jtraj.py` | Joint-space trajectory (`jtraj`) between Puma configurations; `--backend` and `--model` options | |
+| `puma_fdyn.py` | Forward dynamics (`fdyn`) of the Puma under zero torque, plotted and animated | |
+
+## Resolved-rate and QP control
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `RRMC.py` | Resolved-rate motion control on the DH Panda, matplotlib backend | |
+| `RRMC_swift.py` | The same controller on the URDF Panda in Swift | swift |
+| `park.py` | Null-space manipulability maximisation (Park 1999) | swift |
+| `baur.py` | As `park.py` with an added joint-limit avoidance term (Baur 2012) | swift |
+| `mmc.py` | Manipulability-maximising QP controller (Haviland and Corke 2020) | swift, qp |
+| `swift_recording.py` | `mmc.py` with Swift video recording enabled | swift, qp |
+| `neo.py` | NEO reactive obstacle avoidance using `link_collision_damper` | swift, qp, collision |
+
+## Mobile manipulation
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `holistic_mm_omni.py` | Holistic mobile manipulation with an omnidirectional base (FrankieOmni) | swift, qp |
+| `holistic_mm_non_holonomic.py` | The same with a non-holonomic base. Currently broken: `rtb.models.Frankie()` no longer includes a mobile base | swift, qp |
+
+## Branched robots
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `branched_robot.py` | Two-arm YuMi controlled with one ETS per gripper | swift |
+
+## Paper walkthroughs
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `icra2021.py` | The code listings from the ICRA 2021 paper "Not your grandmother's toolbox" | swift, collision |
+
+## Benchmarks and checks
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `benchmark_ik.py` | Wall time per problem for the IK solvers, C++ versus pure Python. See the wiki page Benchmark-IK | |
+| `benchmark_rne.py` | Correctness cross-check and timing of the `rne` implementations. See the wiki page Benchmark-RNE | |
+| `_cpu_info.py` | Helper used by the two benchmark scripts; not runnable on its own | |
+| `ik_exp.py` | Success rate and iteration counts of the IK solvers over random targets | |
+| `ikine_evaluate.py` | Timing of analytic and numerical IK on the DH Puma and Panda | |
+| `rne_compare.py` | Puma 560: C versus Python `rne`, and the DH-convention guard in `Robot.rne` | |
+| `rne_dh_convention_check.py` | One-link DH and MDH gravity torque against a Lagrangian ground truth | |
+
+## Mobile robots
+
+| Script | What it shows | Extras |
+|---|---|---|
+| `mobile.py` | Snippets from RVC chapter 5; mostly commented out | |
+| `vehicle1.py` | A `VehicleIcon` animation; mostly commented out | |

examples/icra2021.py

@@ -7,7 +7,7 @@
 
 from swift import Swift
 import spatialmath.base.symbolic as sym
-from roboticstoolbox import ETS as ET
+from roboticstoolbox import ET
 from roboticstoolbox import *
 from spatialmath import *
 from spatialgeometry import *
@@ -77,20 +77,20 @@
 
 e = (
     ET.tz(l1)
-    * ET.rz()
+    * ET.Rz()
     * ET.ty(l2)
-    * ET.ry()
+    * ET.Ry()
     * ET.tz(l3)
     * ET.tx(l4)
     * ET.ty(l5)
-    * ET.ry()
+    * ET.Ry()
     * ET.tz(l6)
-    * ET.rz()
-    * ET.ry()
-    * ET.rz()
+    * ET.Rz()
+    * ET.Ry()
+    * ET.Rz()
 )
 
-robot = ERobot(e)
+robot = Robot(e)
 print(robot)
 
 panda = models.URDF.Panda()
@@ -100,7 +100,7 @@
 # ## B. Trajectories
 
 traj = jtraj(puma.qz, puma.qr, 100)
-qplot(traj.q)
+xplot(traj.q)
 
 t = np.arange(0, 2, 0.010)
 T0 = SE3(0.6, -0.5, 0.3)
@@ -158,8 +158,8 @@
 
 
 obstacle = Box([1, 1, 1], base=SE3(1, 0, 0))
-iscollision0 = panda.collided(panda.q, obstacle)  # boolean
-iscollision1 = panda.links[0].collided(obstacle)
+iscollision0 = panda.iscollided(panda.q, obstacle)  # boolean
+iscollision1 = panda.links[0].iscollided(obstacle)
 
 d, p1, p2 = panda.closest_point(panda.q, obstacle)
 print(d, p1, p2)