added seed and removed jl default

jhavl · jhavl · commit 844b73d16469 · 2022-09-19T22:52:24.000+10:00
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
@@ -2439,8 +2439,9 @@ def ikine_LM(
         ilimit: int = 30,
         slimit: int = 100,
         tol: float = 1e-6,
-        joint_limits: bool = True,
+        joint_limits: bool = False,
         mask: Union[ArrayLike, None] = None,
+        seed: Union[int, None] = None,
     ):
         return self.ets().ikine_LM(
             Tep=Tep,
@@ -2450,6 +2451,7 @@ def ikine_LM(
             tol=tol,
             joint_limits=joint_limits,
             mask=mask,
+            seed=seed,
         )
 
 
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -2692,8 +2692,9 @@ def ikine_LM(
         ilimit: int = 30,
         slimit: int = 100,
         tol: float = 1e-6,
-        joint_limits: bool = True,
+        joint_limits: bool = False,
         mask: Union[ArrayLike, None] = None,
+        seed: Union[int, None] = None,
     ):
         return self.ets(start, end).ikine_LM(
             Tep=Tep,
@@ -2703,6 +2704,7 @@ def ikine_LM(
             tol=tol,
             joint_limits=joint_limits,
             mask=mask,
+            seed=seed,
         )
 
 
diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py
@@ -2239,15 +2239,17 @@ def ikine_LM(
         ilimit: int = 30,
         slimit: int = 100,
         tol: float = 1e-6,
-        joint_limits: bool = True,
+        joint_limits: bool = False,
         mask: Union[ArrayLike, None] = None,
+        seed: Union[int, None] = None,
     ):
-        solver = IK_NR(
+        solver = IK_LM(
             ilimit=ilimit,
             slimit=slimit,
             tol=tol,
             joint_limits=joint_limits,
             mask=mask,
+            seed=seed,
         )
 
         if isinstance(Tep, SE3):
