Commit 07a2f0f0 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Nicolas Mansard
Browse files

[TP2] minor: propagate a change to to 06f0fa.

parent f9a8f543
......@@ -60,7 +60,7 @@
"source": [
"# %load tp2/generated/simple_pick_and_place_1\n",
"\n",
"robot = robex.load('ur5')"
"robot = robex.load('ur5')\n"
]
},
{
......@@ -248,7 +248,7 @@
"# Place the ball at the position ( 0.5, 0.1, 0.2 )\n",
"# The viewer expect position and rotation, apppend the identity quaternion\n",
"q_ball = [0.5, 0.1, 0.2, 1, 0, 0, 0]\n",
"viz.applyConfiguration(ballID, q_ball)"
"viz.applyConfiguration(ballID, q_ball)\n"
]
},
{
......@@ -309,7 +309,7 @@
"q0[5] = 0.\n",
"\n",
"viz.display(q0)\n",
"q = q0.copy()"
"q = q0.copy()\n"
]
},
{
......@@ -407,7 +407,7 @@
"metadata": {},
"outputs": [],
"source": [
"%do_not_load tp2/generated/simple_pick_and_place_4"
"%do_not_load tp2/generated/simple_pick_and_place_4\n"
]
},
{
......@@ -435,7 +435,7 @@
"# Place the box at the position (0.5, 0.1, 0.2)\n",
"q_box = [0.5, 0.1, 0.2, 1, 0, 0, 0]\n",
"viz.applyConfiguration(boxID, q_box)\n",
"viz.applyConfiguration(ballID, [2,2,2,1,0,0,0])"
"viz.applyConfiguration(ballID, [2,2,2,1,0,0,0])\n"
]
},
{
......@@ -461,7 +461,7 @@
"q0[4] = q0[0]\n",
"\n",
"viz.display(q0)\n",
"q = q0.copy()"
"q = q0.copy()\n"
]
},
{
......@@ -477,7 +477,7 @@
"metadata": {},
"outputs": [],
"source": [
"%do_not_load tp2/generated/simple_pick_and_place_7"
"%do_not_load tp2/generated/simple_pick_and_place_7\n"
]
},
{
......@@ -517,7 +517,7 @@
"metadata": {},
"outputs": [],
"source": [
"%do_not_load tp2/generated/invgeom3d_1"
"%do_not_load tp2/generated/invgeom3d_1\n"
]
},
{
......@@ -571,7 +571,7 @@
"Mtarget = pin.SE3(pin.utils.rotate('x', 3.14 / 4), np.array([-0.5, 0.1, 0.2])) # x,y,z\n",
"qopt = fmin_bfgs(cost, robot.q0, callback=callback)\n",
"\n",
"print('The robot finally reached effector placement at\\n', robot.placement(qopt, 6))"
"print('The robot finally reached effector placement at\\n', robot.placement(qopt, 6))\n"
]
},
{
......@@ -663,7 +663,7 @@
"\n",
"\n",
"Mtarget = pin.SE3(pin.utils.rotate('x', 3.14 / 4), np.array([0.5, 0.1, 0.2])) # x,y,z\n",
"qopt = fmin_bfgs(cost, robot.q0, callback=callback)"
"qopt = fmin_bfgs(cost, robot.q0, callback=callback)\n"
]
},
{
......
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