Merge branch 'master' of https://github.com/petercorke/robotics-toolbox-python

Author: petercorke

examples/baur.py

@@ -89,4 +89,4 @@
     panda.qd[:n] = qd[:n]
 
     # Step the simulator by 50 ms
-    env.step(50)
+    env.step(0.05)

examples/neo.py

@@ -108,8 +108,8 @@
         # object on the robot to the collision in the scene
         c_Ain, c_bin = panda.link_collision_damper(
             collision, panda.q[:n], 0.3, 0.05, 1.0,
-            startlink=panda.link_dict['panda_link1'],
-            endlink=panda.link_dict['panda_hand'])
+            start=panda.link_dict['panda_link1'],
+            end=panda.link_dict['panda_hand'])
 
         # If there are any parts of the robot within the influence distance
         # to the collision in the scene

examples/park.py

@@ -67,4 +67,4 @@
     panda.qd[:n] = qd[:n]
 
     # Step the simulator by 50 ms
-    env.step(50)
+    env.step(0.05)

examples/swift_recording.py

@@ -57,7 +57,7 @@
 while not arrived:
 
     # The pose of the Panda's end-effector
-    Te = panda.fkine()
+    Te = panda.fkine(panda.q)
 
     # Transform from the end-effector to desired pose
     eTep = Te.inv() * Tep

examples/vellipse.py

@@ -30,8 +30,8 @@
 while not arrived:
     start = time.time()
 
-    v, arrived = rp.p_servo(panda.fkine(), Tep, 0.5)
-    panda.qd = np.linalg.pinv(panda.jacobe()) @ v
+    v, arrived = rp.p_servo(panda.fkine(panda.q), Tep, 0.5)
+    panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v
     env.step(50)
     stop = time.time()
 

roboticstoolbox/backends/Swift/Swift.py

@@ -365,11 +365,11 @@ def _step_shapes(self, dt):
         for shape in self.shapes:
 
             T = shape.base
-            t = T.t
-            r = T.rpy('rad')
+            t = T.t.astype('float64')
+            r = T.rpy('rad').astype('float64')
 
-            t += shape.v[:3] * (dt)
-            r += shape.v[3:] * (dt)
+            t += shape.v[:3] * dt
+            r += shape.v[3:] * dt
 
             shape.base = sm.SE3(t) * sm.SE3.RPY(r)