Issue bug in fkine_all
was attempting to include hand and finger joints
@@ -665,13 +665,16 @@ class BaseERobot(Robot):
T *= link.A(q[link.jindex])
Tall[link.number] = T
- if link.nchildren == 1:
+ if link.nchildren == 0:
+ # no children
+ return
+ elif link.nchildren == 1:
+ # one child
+ if link in self.ee_links:
+ # this link is an end-effector, go no further
+ return
link = link.children[0]
continue
-
- elif link.nchildren == 0:
- return
-
else:
# multiple children
for child in link.children:
