namedtuple bug again
@@ -1585,7 +1585,7 @@ class DHRobot(Robot):
theta = ikfunc(self, Tk, config)
if theta is None or np.any(np.isnan(theta)):
- solution = iksol(None, False)
+ solution = iksol(None, False, "")
else:
# Solve for the wrist rotation
# We need to account for some random translations between the
@@ -1616,7 +1616,7 @@ class DHRobot(Robot):
# Remove the link offset angles
theta = theta - self.offset
- solution = iksol(theta, True)
+ solution = iksol(theta, True, "")
solutions.append(solution)
if len(solutions) == 1:
