diff --git a/docs/source/intro.rst b/docs/source/intro.rst index 569f553b..45fe6d24 100644 --- a/docs/source/intro.rst +++ b/docs/source/intro.rst @@ -661,9 +661,9 @@ whole robots, discrete links, and objects in the world. For example a :math:`1 just one link, of the robot by:: >>> panda = rtb.models.Panda() - >>> obstacle = rtb.Box([1, 1, 1], SE3(1, 0, 0)) - >>> iscollision = panda.collided(obstacle) # boolean - >>> iscollision = panda.links[0].collided(obstacle) + >>> obstacle = Cuboid([1, 1, 1], pose = SE3(1, 0, 0)) + >>> iscollision = panda.iscollided(panda.q, obstacle) # boolean + >>> iscollision = panda.links[0].iscollided(obstacle) Additionally, we can compute the minimum Euclidean distance between whole @@ -777,4 +777,4 @@ References .. [SMTB-P] `Spatial Math Toolbox for Python `_ .. [bdsim] `Block diagram simulator for Python `_ .. [neo] `NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulatorshttps://jhavl.github.io/neo>`_ -.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021. \ No newline at end of file +.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021.