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Update of collision checking example #382

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Aug 15, 2024
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Update of collision checking example #382

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8 changes: 4 additions & 4 deletions docs/source/intro.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -777,4 +777,4 @@ References
.. [SMTB-P] `Spatial Math Toolbox for Python <https://github.com/petercorke/spatialmath-python>`_
.. [bdsim] `Block diagram simulator for Python <https://github.com/petercorke/bdsim>`_
.. [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.
.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021.