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petercorkepetercorke
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new animation and example
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‎docs/figs/panda1.gif

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‎examples/readme.py

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# this is the example code from the t0p-level README..d
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import roboticstoolbox as rtb
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robot = rtb.models.DH.Panda()
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print(robot)
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T = robot.fkine(robot.qz)
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print(T)
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qt = rtb.trajectory.jtraj(robot.qz, robot.qr, 50)
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robot.plot(qt.q, movie="panda1.gif")
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# IK
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from spatialmath import SE3
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T = SE3(0.1, 0.2, 0.5) * SE3.OA([0, 1, 0], [0, 0, -1])
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q, *_ = robot.ikunc(T)
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print(q)
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print(robot.fkine(q))
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# URDF model
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robot = rtb.models.URDF.Panda()
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print(robot)
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env = rtb.backend.Swift()
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env.launch()
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env.add(robot)
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for qk in qt.q:
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robot.q = qk
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env.step()

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