ikine_LMS doesn't work for URDF (ERobot) models

[dd-ff]

When trying to calculate inverse kinematics using LMS or LM variant using official (implemented) URDF robot or a personal one, an error is thrown in this manner:

...\roboticstoolbox\robot\IK.py", line 534, in ikine_LMS
k = np.logical_and(q > np.pi, revolutes)
ValueError: operands could not be broadcast together with shapes (7,) (9,)

In order to test it you could simply use following script:

robot = rtb.models.URDF.Panda()
T = SE3()
sol = robot.ikine_LMS(T)

[jhavl]

Thanks for bringing this to our attention, this should be fixed now.

[dd-ff]

Great,
Now you can do the same fix for ikine_LM. :-)