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fix roboticstoolbox optionality claim for visualize_trajectory.py #1

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fix roboticstoolbox optionality claim for visualize_trajectory.py #1

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46faf4c
fix roboticstoolbox optionality claim for visualize_trajectory.py
Kajko25 Jul 27, 2026
b8773f7
fix roboticstoolbox optionality claim for visualize_trajectory.py
Kajko25 Jul 27, 2026
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5 changes: 3 additions & 2 deletions README.md
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Expand Up @@ -57,7 +57,8 @@ pip install numpy scipy matplotlib
pip install roboticstoolbox-python
```

> If `roboticstoolbox` is not installed, all tools still work; they will automatically fall back to **joint‑space visualizations only**.
> If `roboticstoolbox` is not installed, `smooth_resampled_traj.py` and the metrics tools still work — they automatically fall back to **joint‑space visualizations only**.
> `visualize_trajectory.py` plots end‑effector space exclusively and therefore requires it.

---

Expand Down Expand Up @@ -415,7 +416,7 @@ python extra_json.py \
A standalone script for **visualizing original vs smoothed trajectories** in 3D end‑effector space:

- Loads two JSON trajectories (e.g. `trajectory.json` and `trajectory_smoothed.json`).
- Uses `roboticstoolbox` Panda DH model for FK.
- Uses `roboticstoolbox` Panda DH model for FK. **Required** — this script has no joint‑space fallback.
- Renders:
- Original trajectory: red dashed line + points.
- Smoothed trajectory: color‑mapped line and points by time.
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3 changes: 1 addition & 2 deletions visualize_trajectory.py
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Expand Up @@ -41,8 +41,7 @@ def load_trajectory_data(file_path):

def compute_fk(q_matrix):
"""计算正运动学 (DH 模型)"""
try: panda = rtb.models.DH.Panda()
except: panda = rtb.models.DH.Panda()
panda = rtb.models.DH.Panda()
return panda.fkine(q_matrix).t

def visualize_complete_comparison(orig_pos, smooth_pos, time_array):
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