for IK of trajectory, returned tuple or arrays, not array of tuples
@@ -1613,10 +1613,13 @@ class DHRobot(Robot):
solutions.append(solution)
- if len(solutions) == 1:
+ if len(T) == 1:
return solutions[0]
else:
- return solutions
+ return iksol(
+ np.vstack([sol.q for sol in solutions]),
+ np.array([sol.success for sol in solutions]),
+ [sol.reason for sol in solutions])
def config_validate(self, config, allowables):
"""
