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petercorke / robotics-toolbox-python

Robotics Toolbox for Python
MIT License
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Phantom link added to Panda robot #427

Open ssowrira opened 8 months ago

ssowrira commented 8 months ago

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 5 months ago

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]: