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base repository: petercorke/robotics-toolbox-python
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head repository: codeFighter2022/robotics-toolbox-python-bugfix
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Commits on Mar 19, 2025

  1. Update Robot.py 

    Inverse dynamics with recursive Newton-Euler does not work for URDF imports and also not for the Panda model:

import roboticstoolbox as rtb
robot = rtb.models.Panda()
q = np.random.rand(robot.n)
qD = np.random.rand(robot.n)
qDD = np.random.rand(robot.n)
tau = robot.rne(q, qD, qDD)

The origin of the error is
jp = self.links[j].parent.jindex 
which is empty for some types.

I implemented a another search algorithm of the parent algorithm via:
jp = next(i for i, link in enumerate(self.links) if link.name == parent_name)
    @codeFighter2022
    codeFighter2022 authored Mar 19, 2025
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