From 5bbedc62c6835353b1e81397bdc43931613dd742 Mon Sep 17 00:00:00 2001 From: Betancourt20 Date: Wed, 14 Sep 2022 11:00:56 +0200 Subject: [PATCH 1/3] tool.trajectory.qp is not working anymore. Changed for tools.xplot --- roboticstoolbox/examples/puma_fdyn.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/examples/puma_fdyn.py b/roboticstoolbox/examples/puma_fdyn.py index b8daead5e..a1ef772a7 100644 --- a/roboticstoolbox/examples/puma_fdyn.py +++ b/roboticstoolbox/examples/puma_fdyn.py @@ -7,13 +7,13 @@ p560 = p560.nofriction() # print the kinematic & dynamic parameters -p560.printdyn() +#p560.printdyn() # simulate motion over 5s with zero torque input d = p560.fdyn(5, p560.qr, dt=0.05) # show the joint angle trajectory -rtb.tools.trajectory.qplot(d.q) +rtb.tools.xplot(d.q) # animate it p560.plot(d.q) # movie='falling_puma.gif') From 82017994a1c7c279068aa1e26013a459fee50f96 Mon Sep 17 00:00:00 2001 From: Betancourt20 Date: Wed, 14 Sep 2022 11:33:46 +0200 Subject: [PATCH 2/3] prindyn() is not working. --- roboticstoolbox/examples/puma_fdyn.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/examples/puma_fdyn.py b/roboticstoolbox/examples/puma_fdyn.py index a1ef772a7..dd97d9b30 100644 --- a/roboticstoolbox/examples/puma_fdyn.py +++ b/roboticstoolbox/examples/puma_fdyn.py @@ -7,7 +7,7 @@ p560 = p560.nofriction() # print the kinematic & dynamic parameters -#p560.printdyn() +# p560.printdyn() not working # simulate motion over 5s with zero torque input d = p560.fdyn(5, p560.qr, dt=0.05) From 7995a0bf0e8a6ea13760522d4fafdf88adadf4ff Mon Sep 17 00:00:00 2001 From: Betancourt20 Date: Wed, 14 Sep 2022 11:34:38 +0200 Subject: [PATCH 3/3] jacob_dot >> jacob0_dot in Coriolis_x --- roboticstoolbox/robot/Dynamics.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py index e68ae8445..6b6c27ff6 100644 --- a/roboticstoolbox/robot/Dynamics.py +++ b/roboticstoolbox/robot/Dynamics.py @@ -1036,7 +1036,7 @@ def coriolis_x( if Mx is None: Mx = self.inertia_x(q[0, :], Ji=Ji) if Jd is None: - Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja) + Jd = self.jacob0_dot(q[0, :], qd[0, :], J0=Ja) return Ji.T @ (C - Mx @ Jd) @ Ji else: # trajectory case @@ -1053,7 +1053,7 @@ def coriolis_x( C = self.coriolis(qk, qdk) Mx = self.inertia_x(qk, Ji=Ji) - Jd = self.jacob_dot(qk, qdk, J0=J) + Jd = self.jacob0_dot(qk, qdk, J0=J) Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji @@ -1262,7 +1262,7 @@ def accel_x( # need Jacobian dot qdk = Ji @ xdk - Jd = self.jacob_dot(qk, qdk, J0=J) + Jd = self.jacob0_dot(qk, qdk, J0=J) xdd[k, :] = T @ (Jd @ qdk + J @ qdd)