Example on https://jhavl.github.io/holistic/ not working

[chisarie]

Dear Jesse and Peter,

thank you very much for the work you are doing with this toolbox, I just came across it and it looks amazing!

I was trying to run the code from https://jhavl.github.io/holistic/ (the omnidirectional base one), but unfortunately I run into some errors. Some errors I run into:

Traceback (most recent call last):
  File "/home/chisari/git/manipulation_examples/roboticstoolbox/demo.py", line 111, in <module>
    arrived, frankie.qd = step_robot(frankie, wTep.A)
  File "/home/chisari/git/manipulation_examples/roboticstoolbox/demo.py", line 12, in step_robot
    wTe = r.fkine(r.q, fast=True)
TypeError: fkine() got an unexpected keyword argument 'fast'

Traceback (most recent call last):
  File "/home/chisari/git/manipulation_examples/roboticstoolbox/demo.py", line 111, in <module>
    arrived, frankie.qd = step_robot(frankie, wTep.A)
  File "/home/chisari/git/manipulation_examples/roboticstoolbox/demo.py", line 63, in step_robot
    θε = math.atan2(bTe[1, -1], bTe[0, -1])
  File "/home/chisari/miniconda3/envs/mujoco_env/lib/python3.9/site-packages/spatialmath/baseposelist.py", line 322, in __getitem__
    ret = self.__class__(self.data[i], check=False)
TypeError: list indices must be integers or slices, not tuple

For completeness, I paste here the whole script: (Click to expand)

## Heading 1. A numbered 2. list * With some * Sub bullets

Is it possible that the code on the website refers to an older version of the toolbox? If yes, it would be great if you could provide an updated version of it, I really looking forward to try it out!

Version information

Did you install from PyPI or GitHub? I tried both, same effect If PyPI what version number? 1.0.1 If GitHub what commit hash? 1.0.1

Environment (please complete the following information):

• Your OS (MacOS, Linux, Windows). Ubuntu 20
  • Your Python version. 3.9.12

[chisarie]

@jhavl

[jhavl]

Hey @chisarie, thanks for finding this. I have updated the examples on https://jhavl.github.io/holistic/ which will work with the latest toolbox version. These examples are also available in the examples directory on this repo: holistic_mm_non_holonomic.py and holistic_mm_holonomic.py