fix axes count
@@ -1693,9 +1693,7 @@ class URDF(URDFType):
rot = joint.rpy
# Check if axis of rotation/tanslation is not 1
- if np.sum(np.abs(np.array(joint.axis))) == 1 and 1 in np.abs(
- np.array(joint.axis)
- ):
+ if np.count_nonzero(joint.axis) < 2:
childlink._ets = rtb.ETS.SE3(trans, rot)
else:
# Normalise the joint axis to be along or about z axis
