Merge pull request #153 from cmower/fix-151

Fix 151
cmower · Aug 11, 2023 · 3e7608f · 3e7608f
2 parents ea3a58c + cd44b3d
commit 3e7608f
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Showing 4 changed files with 5 additions and 108 deletions.
diff --git a/example/experiment1.py b/example/experiment1.py
@@ -23,9 +23,9 @@ def __init__(self, robot, eff_link, base_link=None):
         self.qd = self.builder.get_model_state(self.robot_name, 0, time_deriv=1)
         self.qc = self.builder.add_parameter("qc", robot.ndof)
         if base_link is None:
-            self.J = robot.get_global_geometric_jacobian(eff_link, self.qc)
+            self.J = robot.get_global_link_geometric_jacobian(eff_link, self.qc)
         else:
-            self.J = robot.get_geometric_jacobian(eff_link, self.qc, base_link)
+            self.J = robot.get_link_geometric_jacobian(eff_link, self.qc, base_link)
         self.veff = self.J @ self.qd
         self._solver_duration = None
 

diff --git a/example/experiment2.py b/example/experiment2.py
@@ -74,10 +74,10 @@ def __init__(self):
         qF = builder.get_model_state(self.name, t=0)
         qd = (qF - qc) / dt
         pg = builder.add_parameter("pg", 3)  # goal position
-        Jp = robot.get_global_linear_jacobian(ee_link, qc)
+        Jp = robot.get_global_link_linear_jacobian(ee_link, qc)
         pc = pos(qc)
         p = pc + dt * Jp @ qd
-        Ja = robot.get_global_angular_geometric_jacobian(ee_link, qc)
+        Ja = robot.get_global_link_angular_geometric_jacobian(ee_link, qc)
         va = Ja @ qd
         Jg = robot.get_global_link_geometric_jacobian(ee_link, qF)
         manip = cs.sqrt(cs.det(Jg @ Jg.T))

diff --git a/example/pushing.py b/example/pushing.py
@@ -251,7 +251,7 @@ def __init__(self, dt, thresh_angle):
         q = qc + dt * dq
 
         # Get jacobian
-        Jl = kuka.get_global_linear_jacobian(link_ee, qc)
+        Jl = kuka.get_global_link_linear_jacobian(link_ee, qc)
 
         # Get end-effector velocity
         dp = Jl @ dq

diff --git a/optas/models.py b/optas/models.py
@@ -1,5 +1,4 @@
 """! @brief Several Model classes are defined."""
-
 import os
 import warnings
 import functools
@@ -1197,11 +1196,6 @@ def get_link_rpy_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_global_link_geometric_jacobian")
-    def get_global_geometric_jacobian(self, link, q):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_global_link_geometric_jacobian(
@@ -1224,7 +1218,6 @@ def get_global_link_geometric_jacobian(
         jacobian_columns = []
 
         for joint in self.urdf.joints:
-
             if joint.type == "fixed":
                 continue
 
@@ -1260,7 +1253,6 @@ def get_global_link_geometric_jacobian(
                 jcol = cs.DM.zeros(6)
                 jacobian_columns.append(jcol)
 
-
         # Sort columns of jacobian
         jacobian_columns_ordered = [jacobian_columns[idx] for idx in joint_index_order]
 
@@ -1271,11 +1263,6 @@ def get_global_link_geometric_jacobian(
 
         return J
 
-    @deprecation_warning("get_global_link_geometric_jacobian_function")
-    def get_global_geometric_jacobian_function(self, link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_global_link_geometric_jacobian_function(
         self,
         link: str,
@@ -1293,11 +1280,6 @@ def get_global_link_geometric_jacobian_function(
             "J", link, self.get_global_link_geometric_jacobian, n=n
         )
 
-    @deprecation_warning("get_global_link_analytical_jacobian")
-    def get_global_analytical_jacobian(self, link, q):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_global_link_analytical_jacobian(
@@ -1314,11 +1296,6 @@ def get_global_link_analytical_jacobian(
             self.get_global_link_angular_analytical_jacobian(link, q),
         )
 
-    @deprecation_warning("get_global_link_analytical_jacobian_function")
-    def get_global_analytical_jacobian_function(self, link):
-        """! Deprecated function."""
-        pass
-
     def get_global_link_analytical_jacobian_function(
         self,
         link: str,
@@ -1340,11 +1317,6 @@ def get_global_link_analytical_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_link_geometric_jacobian")
-    def get_geometric_jacobian(self):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_link_geometric_jacobian(
@@ -1371,11 +1343,6 @@ def get_link_geometric_jacobian(
 
         return J
 
-    @deprecation_warning("get_link_geometric_jacobian_function")
-    def get_geometric_jacobian_function(self, link, base_link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_link_geometric_jacobian_function(
         self,
         link: str,
@@ -1400,11 +1367,6 @@ def get_link_geometric_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_link_analytical_jacobian")
-    def get_analytical_jacobian(self):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_link_analytical_jacobian(
@@ -1422,11 +1384,6 @@ def get_link_analytical_jacobian(
             self.get_link_angular_analytical_jacobian(link, q, base_link),
         )
 
-    @deprecation_warning("get_link_analytical_jacobian_function")
-    def get_analytical_jacobian_function(self, link, base_link):
-        """! Deprecated function."""
-        pass
-
     def get_link_analytical_jacobian_function(
         self,
         link: str,
@@ -1451,11 +1408,6 @@ def get_link_analytical_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_global_link_linear_jacobian")
-    def get_global_linear_jacobian(self, link, q):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_global_link_linear_jacobian(
@@ -1470,11 +1422,6 @@ def get_global_link_linear_jacobian(
         J = self.get_global_link_geometric_jacobian(link, q)
         return J[:3, :]
 
-    @deprecation_warning("get_global_link_linear_jacobian_function")
-    def get_global_linear_jacobian_function(self, link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_global_link_linear_jacobian_function(
         self,
         link: str,
@@ -1496,11 +1443,6 @@ def get_global_link_linear_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_link_linear_jacobian")
-    def get_linear_jacobian(self, link, q, base_link):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_link_linear_jacobian(
@@ -1516,11 +1458,6 @@ def get_link_linear_jacobian(
         J = self.get_link_geometric_jacobian(link, q, base_link)
         return J[:3, :]
 
-    @deprecation_warning("get_link_linear_jacobian_function")
-    def get_linear_jacobian_function(self, link, base_link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_link_linear_jacobian_function(
         self, link: str, base_link: str, n: int = 1, numpy_output: bool = False
     ) -> cs.Function:
@@ -1541,11 +1478,6 @@ def get_link_linear_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_global_link_angular_geometric_jacobian")
-    def get_global_angular_geometric_jacobian(self, link, q):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_global_link_angular_geometric_jacobian(
@@ -1561,11 +1493,6 @@ def get_global_link_angular_geometric_jacobian(
         J = self.get_global_link_geometric_jacobian(link, q)
         return J[3:, :]
 
-    @deprecation_warning("get_global_link_angular_geometric_jacobian_function")
-    def get_global_angular_geometric_jacobian_function(self, link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_global_link_angular_geometric_jacobian_function(
         self,
         link: str,
@@ -1587,11 +1514,6 @@ def get_global_link_angular_geometric_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_global_link_angular_analytical_jacobian")
-    def get_global_angular_analytical_jacobian(self, link, q):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_global_link_angular_analytical_jacobian(
@@ -1605,11 +1527,6 @@ def get_global_link_angular_analytical_jacobian(
         """
         return self.get_link_angular_analytical_jacobian(link, q, self.get_root_link())
 
-    @deprecation_warning("get_global_link_angular_analytical_jacobian_function")
-    def get_global_angular_analytical_jacobian_function(self, link):
-        """! Deprecated function."""
-        pass
-
     def get_global_link_angular_analytical_jacobian_function(
         self,
         link: str,
@@ -1631,11 +1548,6 @@ def get_global_link_angular_analytical_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_link_angular_geometric_jacobian")
-    def get_angular_geometric_jacobian(self, link, q, base_link):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_link_angular_geometric_jacobian(
@@ -1651,11 +1563,6 @@ def get_link_angular_geometric_jacobian(
         J = self.get_link_geometric_jacobian(link, q, base_link)
         return J[3:, :]
 
-    @deprecation_warning("get_link_angular_geometric_jacobian_function")
-    def get_angular_geometric_jacobian_function(self, link, base_link, n=1):
-        """! Deprecated function."""
-        pass
-
     def get_link_angular_geometric_jacobian_function(
         self,
         link: str,
@@ -1680,11 +1587,6 @@ def get_link_angular_geometric_jacobian_function(
             numpy_output=numpy_output,
         )
 
-    @deprecation_warning("get_link_angular_analytical_jacobian")
-    def get_angular_analytical_jacobian(self, link, q, base_link):
-        """! Deprecated function."""
-        pass
-
     @arrayify_args
     @listify_output
     def get_link_angular_analytical_jacobian(
@@ -1708,11 +1610,6 @@ def get_link_angular_analytical_jacobian(
 
         return Ja(q)
 
-    @deprecation_warning("get_link_angular_analytical_jacobian_function")
-    def get_angular_analytical_jacobian_function(self, link, base_link):
-        """! Deprecated function."""
-        pass
-
     def get_link_angular_analytical_jacobian_function(
         self,
         link: str,