Dont use deprecated functions

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
 

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))

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