From 26dc2583e1aa36fbc511edd61230deec5158fae2 Mon Sep 17 00:00:00 2001 From: Yijiang Huang Date: Fri, 20 Oct 2023 19:01:25 +0200 Subject: [PATCH] Fix getJointInfo error from BASE_LINK in plan_cartesian_motion --- .../backend_features/pychoreo_plan_cartesian_motion.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/compas_fab_pychoreo/backend_features/pychoreo_plan_cartesian_motion.py b/src/compas_fab_pychoreo/backend_features/pychoreo_plan_cartesian_motion.py index cd6c29b..50062d3 100644 --- a/src/compas_fab_pychoreo/backend_features/pychoreo_plan_cartesian_motion.py +++ b/src/compas_fab_pychoreo/backend_features/pychoreo_plan_cartesian_motion.py @@ -248,7 +248,11 @@ def plan_cartesian_motion(self, robot, frames_WCF, start_configuration=None, gro # pos_tolerance=pos_tolerance, ori_tolerance=ori_tolerance)) if planner_id == 'IterativeIK': - selected_links = [link_from_name(robot_uid, l) for l in robot.get_link_names(group=group)] + selected_links = [] + for l in robot.get_link_names(group=group): + link_id = link_from_name(robot_uid, l) + if link_id != pp.BASE_LINK: + selected_links.append(link_id) if customized_ikinfo is None: path = plan_cartesian_motion_from_links(robot_uid, selected_links, tool_link, ee_poses, custom_limits=pb_custom_limits, get_sub_conf=False, options=options, attachments=attachments)