Readme code

[eastSpawn]

Hi!
I struggled a bit getting the example code in the main readme working with the new updates. Here is what I had to do to get it working for anyone else with similar problems.

import roboticstoolbox as rtb

robot = rtb.models.DH.Panda()
print(robot)

T = robot.fkine(robot.qz)  # forward kinematics
print(T)

from spatialmath import SE3

T = SE3(0.8, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
sol = robot.ikine_min(T)         # solve IK
print(sol.q)                     # display joint angles

print(robot.fkine(sol.q))

#qt = rtb.tools.trajectory.jtraj(robot.qz, robot.qr, 50)
qt = rtb.tools.trajectory.jtraj(robot.qz, sol.q, 50)

# rtb.tools.trajectory.qplot(qt.y)
# robot.plot(qt.y, movie='panda1.gif')

robot = rtb.models.URDF.Panda()
print(robot)

env = rtb.backends.Swift()  # instantiate 3D browser-based visualizer
env.launch()                # activate it
env.add(robot)              # add robot to the 3D scene
for qk in qt.y:             # for each joint configuration on trajectory
      robot.q = qk          # update the robot state
      env.step()            # update visualization

[petercorke]

Thanks for your interest. Some collateral damage from recent changes to trajectories. Will fix this over the weekend.

[petercorke]

I believe the README code reflects current toolbox and works as advertised. Please let me know if any further issues.

[petercorke]

Thank you for your interest in RTB, and for posting what you needed to change. The README example was fixed long ago, so I'm closing this as resolved. Thank you for the report.