Issue petercorke#226, bug in fkine_all

petercorke · petercorke · commit c77faac4d559 · 2021-05-09T14:28:34.000+10:00
was attempting to include hand and finger joints
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -665,13 +665,16 @@ def recurse(Tall, Tparent, q, link):
                 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:
