Revert breaking IK change

jhavl · jhavl · commit e34f5382c301 · 2021-02-07T09:28:56.000+10:00
diff --git a/roboticstoolbox/backends/Swift/Swift.py b/roboticstoolbox/backends/Swift/Swift.py
@@ -365,11 +365,11 @@ def _step_shapes(self, dt):
         for shape in self.shapes:
 
             T = shape.base
-            t = T.t
-            r = T.rpy('rad')
+            t = T.t.astype('float64')
+            r = T.rpy('rad').astype('float64')
 
-            t += shape.v[:3] * (dt)
-            r += shape.v[3:] * (dt)
+            t += shape.v[:3] * dt
+            r += shape.v[3:] * dt
 
             shape.base = sm.SE3(t) * sm.SE3.RPY(r)
 
diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py
@@ -264,9 +264,9 @@ def ikine_LM(
                         # more to do on the trajectory
                         solutions.append(solution)
                         del T[0]
-                else:
-                    # no solution found, stop now
-                    return iksol(None, False, None, None, None)
+            else:
+                # no solution found, stop now
+                return iksol(None, False, None, None, None)
 
         if q0 is None:
             q0 = np.zeros((self.n,))
