Open ssowrira opened 5 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.
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]:
backends/PyPlot/RobotPlot.py:RobotPlot.draw()
for link in segment:
for link in segment[0:segment.__len__()-1]:
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](https://github.com/petercorke/robotics-toolbox-python/assets/135037088/1d3fc833-5f97-4a57-ae6b-c83d1bd727af)