robotics-toolbox-python/examples/plot.py at patch-1 · fabaff/robotics-toolbox-python · GitHub

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#!/usr/bin/env python

"""

@author Jesse Haviland

"""

import roboticstoolbox as rp

import numpy as np

# Make a panda robot

panda = rp.models.DH.Panda()

# Init joint to the 'ready' joint angles

panda.q = panda.qr

# Make 100 random sets of joint angles

q = np.random.rand(100, 7)

# Plot the joint trajectory with a 50ms delay between configurations

panda.plot(q=q, backend="pyplot", dt=0.050, vellipse=True, fellipse=True)

# panda.plot(q=q, backend='swift', dt=0.050, vellipse=False, fellipse=False)

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