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docs(notebooks): modernise icra2021.ipynb for the current API #854

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Merged
petercorke merged 3 commits into from
Oct 19, 2026
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docs(notebooks): modernise icra2021.ipynb for the current API #854

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docs(notebooks): modernise icra2021.ipynb for the current API
petercorke Oct 19, 2026
859b51f
Merge branch 'main' into docs/notebook-icra2021
petercorke Oct 19, 2026
838657c
Merge branch 'main' into docs/notebook-icra2021
petercorke Oct 19, 2026
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56 changes: 40 additions & 16 deletions docs/notebooks/icra2021.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,25 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"# Not your grandmother’s toolbox– the Robotics Toolbox reinvented for python\n",
"### Peter Corke and Jesse Haviland\n",
"<!-- RTB_HEADER -- generated from the notebook metadata (rtb_header) by sync_bootstrap.py, do not hand-edit -->\n",
"<table>\n",
" <tr>\n",
" <td><div align=\"left\"><font size=\"30\">Robotics Toolbox for Python</font></div></td>\n",
" <td><img src=\"figs/RobToolBox_RoundLogoB.png\" width=\"300\"></td>\n",
" </tr>\n",
"</table>\n",
"\n",
"This is the code for the examples in the paper published at ICRA2021.\n"
"<p></p>\n",
"<div align=\"center\" style=\"font-size: 1.5em;\">Not your grandmother’s toolbox: the Robotics Toolbox reinvented for Python</div>\n",
"<p></p>\n",
"\n",
"(c) Peter Corke and Jesse Haviland 2021, updated 2026\n",
"\n",
"Peter Corke and Jesse Haviland\n",
"\n",
"This is the code for the examples in the paper published at ICRA 2021.\n",
"\n",
"> **Modernised 2026-10-19** to address API drift: this notebook was written for an earlier release of the Toolbox, and has been updated so that it runs with the current one."
]
},
{
Expand Down Expand Up @@ -150,7 +165,7 @@
"metadata": {},
"outputs": [],
"source": [
"T.plot(color=\"red\", label=\"2\")"
"T.plot(color=\"red\", frame=\"2\")"
]
},
{
Expand Down Expand Up @@ -264,7 +279,7 @@
"metadata": {},
"outputs": [],
"source": [
"from roboticstoolbox import ETS as ET"
"from roboticstoolbox import ET"
]
},
{
Expand All @@ -290,17 +305,17 @@
"source": [
"e = (\n",
" ET.tz(l1)\n",
" * ET.rz()\n",
" * ET.Rz()\n",
" * ET.ty(l2)\n",
" * ET.ry()\n",
" * ET.Ry()\n",
" * ET.tz(l3)\n",
" * ET.tx(l4)\n",
" * ET.ty(l5)\n",
" * ET.ry()\n",
" * ET.Ry()\n",
" * ET.tz(l6)\n",
" * ET.rz()\n",
" * ET.ry()\n",
" * ET.rz()\n",
" * ET.Rz()\n",
" * ET.Ry()\n",
" * ET.Rz()\n",
")"
]
},
Expand All @@ -310,7 +325,7 @@
"metadata": {},
"outputs": [],
"source": [
"robot = ERobot(e)\n",
"robot = Robot(e)\n",
"print(robot)"
]
},
Expand Down Expand Up @@ -599,11 +614,11 @@
"metadata": {},
"outputs": [],
"source": [
"from spatialgeometry import Box\n",
"from spatialgeometry import Cuboid\n",
"\n",
"obstacle = Box([1, 1, 1], base=SE3(1, 0, 0))\n",
"iscollision = panda.collided(panda.qr, obstacle) # boolean\n",
"iscollision = panda.links[0].collided(obstacle)"
"obstacle = Cuboid([1, 1, 1], pose=SE3(1, 0, 0))\n",
"iscollision = panda.iscollided(panda.qr, obstacle) # boolean\n",
"iscollision = panda.links[0].iscollided(obstacle)"
]
},
{
Expand Down Expand Up @@ -705,6 +720,15 @@
"_Feature"
],
"window_display": false
},
"rtb_header": {
"title": "Not your grandmother’s toolbox: the Robotics Toolbox reinvented for Python",
"paragraphs": [
"Peter Corke and Jesse Haviland",
"This is the code for the examples in the paper published at ICRA 2021."
],
"copyright": "Peter Corke and Jesse Haviland 2021, updated 2026",
"modernised": "2026-10-19"
}
},
"nbformat": 4,
Expand Down
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