readme: update python example to use coal

README.md

@@ -103,8 +103,8 @@ std::shared_ptr<coal::ConvexBase> loadConvexMesh(const std::string& file_name) {
 }
 
 int main() {
-  // Create the hppfcl shapes.
-  // Hppfcl supports many primitive shapes: boxes, spheres, capsules, cylinders, ellipsoids, cones, planes,
+  // Create the coal shapes.
+  // Coal supports many primitive shapes: boxes, spheres, capsules, cylinders, ellipsoids, cones, planes,
   // halfspace and convex meshes (i.e. convex hulls of clouds of points).
   // It also supports BVHs (bounding volumes hierarchies), height-fields and octrees.
   std::shared_ptr<coal::Ellipsoid> shape1 = std::make_shared<coal::Ellipsoid>(0.7, 1.0, 0.8);
@@ -161,7 +161,7 @@ int main() {
 Here is the C++ example from above translated in python using HPP-FCL's python bindings:
 ```python
 import numpy as np
-import hppfcl
+import coal
 # Optional:
 # The Pinocchio library is a rigid body algorithms library and has a handy SE3 module.
 # It can be installed as simply as `conda -c conda-forge install pinocchio`.
@@ -169,36 +169,36 @@ import hppfcl
 import pinocchio as pin
 
 def loadConvexMesh(file_name: str):
-    loader = hppfcl.MeshLoader()
-    bvh: hppfcl.BVHModelBase = loader.load(file_name)
+    loader = coal.MeshLoader()
+    bvh: coal.BVHModelBase = loader.load(file_name)
     bvh.buildConvexHull(True, "Qt")
     return bvh.convex
 
 if __name__ == "__main__":
-    # Create hppfcl shapes
-    shape1 = hppfcl.Ellipsoid(0.7, 1.0, 0.8)
+    # Create coal shapes
+    shape1 = coal.Ellipsoid(0.7, 1.0, 0.8)
     shape2 = loadConvexMesh("../path/to/mesh/file.obj")
 
     # Define the shapes' placement in 3D space
-    T1 = hppfcl.Transform3s()
+    T1 = coal.Transform3s()
     T1.setTranslation(pin.SE3.Random().translation)
     T1.setRotation(pin.SE3.Random().rotation)
-    T2 = hppfcl.Transform3s();
+    T2 = coal.Transform3s();
     # Using np arrays also works
     T1.setTranslation(np.random.rand(3))
     T2.setRotation(pin.SE3.Random().rotation)
 
     # Define collision requests and results
-    col_req = hppfcl.CollisionRequest()
-    col_res = hppfcl.CollisionResult()
+    col_req = coal.CollisionRequest()
+    col_res = coal.CollisionResult()
 
     # Collision call
-    hppfcl.collide(shape1, T1, shape2, T2, col_req, col_res)
+    coal.collide(shape1, T1, shape2, T2, col_req, col_res)
 
     # Accessing the collision result once it has been populated
     print("Is collision? ", {col_res.isCollision()})
     if col_res.isCollision():
-        contact: hppfcl.Contact = col_res.getContact(0)
+        contact: coal.Contact = col_res.getContact(0)
         print("Penetration depth: ", contact.penetration_depth)
         print("Distance between the shapes including the security margin: ", contact.penetration_depth + col_req.security_margin)
         print("Witness point shape1: ", contact.getNearestPoint1())