I was using your toolbox for visualizing robot movements of a ur5 serial robot and had the problem that the toolbox did not support visualizing the displacement of the tcp when using a tool at the end effector.
For that I added an implementation enabling specifying a tool via a Tool object (basically just a Frame).
On my way I also fixed a few visualization bugs that occured when displaying a robot with large dimensions (e.g. when the dh are in mm instead of m). Also you can now use the default matplotlib scaling, but with equally spaced axes (behaviour is a bit wonky for trajectories though).
Also added some tests and examples.
Use whatever you want to include in your repo :)
Hi :)
I was using your toolbox for visualizing robot movements of a ur5 serial robot and had the problem that the toolbox did not support visualizing the displacement of the tcp when using a tool at the end effector. For that I added an implementation enabling specifying a tool via a Tool object (basically just a Frame). On my way I also fixed a few visualization bugs that occured when displaying a robot with large dimensions (e.g. when the dh are in mm instead of m). Also you can now use the default matplotlib scaling, but with equally spaced axes (behaviour is a bit wonky for trajectories though). Also added some tests and examples. Use whatever you want to include in your repo :)
Best Regards Tobi