I have a tool based around a library here:
https://code.google.com/p/wu-robotics/source/browse/trunk/precise_trajectory/graph_trajectory/src/graph_trajectory/__init__.py

It also uses a JointWatcher to record the values that are actually
performed.
https://code.google.com/p/wu-robotics/source/browse/trunk/precise_trajectory/pr2_precise_trajectory/src/pr2_precise_trajectory/joint_watcher.py




On Thu, Mar 21, 2013 at 8:53 AM, Adam Leeper <aleeper@stanford.edu> wrote:

> Hi all-
>
> I'd like a tool that plots a series of joint trajectories. In my work, I
> continuously re-plan motions, meaning I need each trajectory to spline
> smoothly at a particular time with the previously commanded trajectory.
> Having a graphical tool to verify that this is happening correctly would be
> very useful.
>
> Has anyone already written such a tool?
> Otherwise, I guess I'll start getting familiar with rqt and matplotlib...
>
> By the way, rxplot is not sufficient because it can only interpret one
> number per message.
>
> Thanks!
> --Adam
>
>
> Adam Leeper
> PhD Candidate, Stanford BioRobotics Lab
> aleeper@stanford.edu
> cell: 650.ROBOT.44
>
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