fix bug for analytic IK
@@ -9,7 +9,7 @@ from ansitable import ANSITable, Column
# * T, the end-effector pose
# * q0, the initial joint angles for solution
-example = 'panda' # 'panda'
+example = 'puma' # 'panda'
if example == 'puma':
# Puma robot case
@@ -49,7 +49,7 @@ ikfuncs = [
if hasattr(robot, "ikine_a"):
a = (robot.ikine_a, # analytic solution
"ikine_a",
- "sol = robot.ikine_a}(T)"
+ "sol = robot.ikine_a(T)"
)
ikfuncs.insert(0, a)
