Fixed IK LM petercorke#174

jhavl · jhavl · commit 53c4c3829eea · 2021-02-22T10:08:47.000+10:00
diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py
@@ -5,9 +5,10 @@
 
 import numpy as np
 from collections import namedtuple
-from roboticstoolbox.tools.null import null
+# from roboticstoolbox.tools.null import null
+import roboticstoolbox as rtb
 from spatialmath import base
-from spatialmath import SE3, Twist3
+from spatialmath import SE3
 import scipy.optimize as opt
 import math
 import qpsolvers as qp
@@ -288,7 +289,14 @@ def ikine_LM(
         nm = 0
 
         # bool vector indicating revolute joints
-        revolutes = np.array([link.isrevolute for link in self])
+        # revolutes = np.array([link.isrevolute for link in self])
+
+        revolutes = []
+
+        for link in self:
+            if isinstance(self, rtb.DHRobot) or link.isjoint:
+                revolutes.append(link.isrevolute)
+        revolutes = np.array(revolutes)
 
         q = q0
         for Tk in T:
@@ -500,7 +508,7 @@ def ikine_LMS(
         revolutes = []
 
         for link in self:
-            if link.isjoint:
+            if isinstance(self, rtb.DHRobot) or link.isjoint:
                 revolutes.append(link.isrevolute)
         revolutes = np.array(revolutes)
 
