reinstate IK_LM for DHRobot
@@ -2436,6 +2436,29 @@ class DHRobot(Robot):
)
+ def ikine_LM(
+ self,
+ Tep: Union[np.ndarray, SE3],
+ q0: Union[ArrayLike, None] = None,
+ ilimit: int = 30,
+ slimit: int = 100,
+ tol: float = 1e-6,
+ joint_limits: bool = False,
+ mask: Union[ArrayLike, None] = None,
+ seed: Union[int, None] = None,
+ ):
+ return self.ets().ikine_LM(
+ Tep=Tep,
+ q0=q0,
+ ilimit=ilimit,
+ slimit=slimit,
+ tol=tol,
+ joint_limits=joint_limits,
+ mask=mask,
+ seed=seed,
+ )
+
+
class SerialLink(DHRobot):
def __init__(self, *args, **kwargs):
warnings.warn(
