Fix tutorial - fixes #101

Author: Phylliade

tutorials/Inverse Kinematics with ErgoJr.ipynb

@@ -53,6 +53,9 @@
    "execution_count": 3,
    "metadata": {
     "collapsed": true,
+    "jupyter": {
+     "outputs_hidden": true
+    },
     "pycharm": {
      "is_executing": false
     }
@@ -82,7 +85,10 @@
    "cell_type": "code",
    "execution_count": 2,
    "metadata": {
-    "collapsed": false
+    "collapsed": false,
+    "jupyter": {
+     "outputs_hidden": false
+    }
    },
    "outputs": [],
    "source": [
@@ -127,6 +133,9 @@
    "execution_count": 1,
    "metadata": {
     "collapsed": false,
+    "jupyter": {
+     "outputs_hidden": false
+    },
     "pycharm": {
      "is_executing": false
     }
@@ -160,7 +169,9 @@
    "execution_count": 4,
    "metadata": {
     "collapsed": false,
-    "scrolled": false
+    "jupyter": {
+     "outputs_hidden": false
+    }
    },
    "outputs": [
     {
@@ -974,7 +985,10 @@
    "cell_type": "code",
    "execution_count": 5,
    "metadata": {
-    "collapsed": false
+    "collapsed": false,
+    "jupyter": {
+     "outputs_hidden": false
+    }
    },
    "outputs": [],
    "source": [
@@ -985,7 +999,10 @@
    "cell_type": "code",
    "execution_count": 6,
    "metadata": {
-    "collapsed": false
+    "collapsed": false,
+    "jupyter": {
+     "outputs_hidden": false
+    }
    },
    "outputs": [],
    "source": [
@@ -1032,7 +1049,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.3"
+   "version": "3.9.6"
   },
   "pycharm": {
    "stem_cell": {
@@ -1078,5 +1095,5 @@
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }

tutorials/Moving the Poppy Torso using Inverse Kinematics.ipynb

@@ -1212,7 +1212,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.2"
+   "version": "3.9.6"
   },
   "widgets": {
    "state": {

tutorials/Orientation.ipynb

@@ -413,9 +413,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.2"
+   "version": "3.9.6"
   }
  },
  "nbformat": 4,
  "nbformat_minor": 4
-}
+}

tutorials/Precreated chain - Baxter.ipynb

@@ -219,7 +219,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.2"
+   "version": "3.9.6"
   },
   "toc-autonumbering": true
  },

tutorials/Quickstart.ipynb

@@ -32,15 +32,15 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 1,
    "metadata": {
     "pycharm": {
      "is_executing": false
     }
    },
    "outputs": [],
    "source": [
-    "import ikpy\n",
+    "import ikpy.chain\n",
     "import numpy as np\n",
     "import ikpy.utils.plot as plot_utils"
    ]
@@ -55,7 +55,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {
     "collapsed": false,
     "jupyter": {
@@ -101,7 +101,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 3,
    "metadata": {
     "pycharm": {
      "is_executing": false
@@ -114,7 +114,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 4,
    "metadata": {
     "collapsed": false,
     "jupyter": {
@@ -126,7 +126,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "The angles of each joints are :  [ 0.          0.77375218 -1.26611491  0.32302884 -0.75260506  1.03033723\n",
+      "The angles of each joints are :  [ 0.          0.77375199 -1.26611195  0.32302683 -0.75260337  1.03033305\n",
       "  0.        ]\n"
      ]
     }
@@ -144,7 +144,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 5,
    "metadata": {
     "collapsed": false,
     "jupyter": {
@@ -156,13 +156,13 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Computed position vector : [ 0.0999999  -0.1999999   0.09999988], original position vector : [ 0.1 -0.2  0.1]\n"
+      "Computed position vector : [ 0.0999999  -0.1999999   0.09999988], original position vector : [0.1, -0.2, 0.1]\n"
      ]
     }
    ],
    "source": [
     "real_frame = my_chain.forward_kinematics(my_chain.inverse_kinematics(target_position))\n",
-    "print(\"Computed position vector : %s, original position vector : %s\" % (real_frame[:3, 3], target_frame[:3, 3]))"
+    "print(\"Computed position vector : %s, original position vector : %s\" % (real_frame[:3, 3], target_position))"
    ]
   },
   {
@@ -182,7 +182,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 6,
    "metadata": {
     "collapsed": false,
     "jupyter": {
@@ -193,7 +193,7 @@
     {
      "data": {
       "application/vnd.jupyter.widget-view+json": {
-       "model_id": "eae3f50cd4744b559517b0a475decbd3",
+       "model_id": "bfe8450a8f7c4d63a9988e0c14fe66e9",
        "version_major": 2,
        "version_minor": 0
       },
@@ -210,7 +210,7 @@
        "(-0.1, 0.1)"
       ]
      },
-     "execution_count": 12,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -222,7 +222,7 @@
     "%matplotlib widget\n",
     "import matplotlib.pyplot as plt\n",
     "fig, ax = plot_utils.init_3d_figure()\n",
-    "my_chain.plot(my_chain.inverse_kinematics(target_position), ax, target=target_vector)\n",
+    "my_chain.plot(my_chain.inverse_kinematics(target_position), ax, target=target_position)\n",
     "plt.xlim(-0.1, 0.1)\n",
     "plt.ylim(-0.1, 0.1)"
    ]
@@ -258,7 +258,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.2"
+   "version": "3.9.6"
   },
   "pycharm": {
    "stem_cell": {