<commit_before>import copy

import pybotics as py
import numpy as np

# set numpy print options
np.set_printoptions(precision=3)
np.set_printoptions(suppress=True)

# create robot
ideal_robot = py.Robot()
ideal_robot.robot_model = py.robot_model.ur10()

# create pseudo-realistic robot with kinematic errors
real_robot = copy.deepcopy(ideal_robot)
real_robot.impair_robot_model()

print('Ideal Robot Model:\n', ideal_robot.robot_model, '\n')
print('Pseudo-Real Robot Model:\n', real_robot.robot_model, '\n')

# demonstrate forward kinematics
joints = [0, 0, 0, 0, 0, 0]

print('Ideal Pose:\n', ideal_robot.fk(joints), '\n')
print('Pseudo-Real Pose:\n', real_robot.fk(joints), '\n')<commit_msg>fixed example to properly load robot model<commit_after>import copy

import pybotics as py
import numpy as np

# set numpy print options
np.set_printoptions(precision=3)
np.set_printoptions(suppress=True)

# create robot
model = np.loadtxt('ur10-mdh.csv', delimiter=',')
ideal_robot = py.Robot(model)

# create pseudo-realistic robot with kinematic errors
real_robot = copy.deepcopy(ideal_robot)
real_robot.impair_robot_model()

print('Ideal Robot Model:\n', ideal_robot.robot_model, '\n')
print('Pseudo-Real Robot Model:\n', real_robot.robot_model, '\n')

# demonstrate forward kinematics
joints = [0, 0, 0, 0, 0, 0]

print('Ideal Pose:\n', ideal_robot.fk(joints), '\n')
print('Pseudo-Real Pose:\n', real_robot.fk(joints), '\n')
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{'dir': 'git-commits-cleaned', 'id': '1428898', 'n_tokens_mistral': 558, 'n_tokens_neox': 526, 'n_words': 124}