petercorke/robotics-toolbox-python

Phantom link added to Panda robot

ssowrira opened this issue · 1 comments

ssowrira commented

When following the code examples, robot.plot method draws a phantom link between the end effector and robot base, creating a closed chain with the links of the robot.

A gif of a sample trajectory generated is attached for reference.
follower_robot_traj2

petrvancjr commented

Hi,

I fixed that by plotting all links except the last.

In file backends/PyPlot/RobotPlot.py:RobotPlot.draw()
Change line (~96):
for link in segment:
to
for link in segment[0:segment.__len__()-1]: