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.