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docs: update Swift RRMC example to the AssemblyHandle API #617

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15 changes: 10 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -310,25 +310,30 @@ env = swift.Swift()
env.launch(realtime=True)

panda = rtb.models.Panda()
panda.q = panda.qr
handle = env.add(panda)
handle.q = panda.qr

Tep = panda.fkine(panda.q) * sm.SE3.Trans(0.2, 0.2, 0.45)
Tep = panda.fkine(handle.q) * sm.SE3.Trans(0.2, 0.2, 0.45)

arrived = False
env.add(panda)

dt = 0.05

while not arrived:

v, arrived = rtb.p_servo(panda.fkine(panda.q), Tep, 1)
panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v
v, arrived = rtb.p_servo(panda.fkine(handle.q), Tep, 1)
handle.qd = np.linalg.pinv(panda.jacobe(handle.q)) @ v
env.step(dt)

# Uncomment to stop the browser tab from closing
# env.hold()
```

`env.add(panda)` returns a handle owning this instance's live joint state --
drive the simulation via `handle.q`/`handle.qd`, not `panda.q`/`panda.qd`
directly. `panda` itself stays a plain, shareable kinematic model, so the
same `panda` object can back several independent handles/instances at once.

<p align="center">
<img src="./docs/figs/panda3.gif">
</p>
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10 changes: 5 additions & 5 deletions examples/RRMC_swift.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,18 +12,18 @@
env.launch(realtime=True)

panda = rp.models.Panda()
panda.q = panda.qr
handle = env.add(panda)
handle.q = panda.qr

Tep = panda.fkine(panda.q) * sm.SE3.Tx(0.2) * sm.SE3.Ty(0.2) * sm.SE3.Tz(0.45)
Tep = panda.fkine(handle.q) * sm.SE3.Tx(0.2) * sm.SE3.Ty(0.2) * sm.SE3.Tz(0.45)

arrived = False
env.add(panda)

dt = 0.05

while not arrived:
v, arrived = rp.p_servo(panda.fkine(panda.q), Tep, 1)
panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v
v, arrived = rp.p_servo(panda.fkine(handle.q), Tep, 1)
handle.qd = np.linalg.pinv(panda.jacobe(handle.q)) @ v
env.step(dt)

# Uncomment to stop the browser tab from closing
Expand Down