fkine_all doesnot work

[Giessen]

Env:

Windows 10, python3.7.9

Version:

robotics-toolbox-python
branch Master
commit dd7cd64

Reproduce:

import roboticstoolbox as rtb
robot = rtb.models.URDF.Panda()
robot.fkine_all(robot.qz)
->
Traceback (most recent call last):
File "C:\Users\sun\Downloads\work\Python&&RS\python_gui\venv37\lib\site-packages\IPython\core\interactiveshell.py", line 3437, in run_code
exec(code_obj, self.user_global_ns, self.user_ns)
File "", line 1, in
robot.fkine_all(robot.qz)
File "C:\Users\sun\Downloads\work\Python&&RS\python_gui\venv37\lib\site-packages\roboticstoolbox\robot\ERobot.py", line 684, in fkine_all
recurse(linkframes, Tbase, q, self.links[0])
File "C:\Users\sun\Downloads\work\Python&&RS\python_gui\venv37\lib\site-packages\roboticstoolbox\robot\ERobot.py", line 669, in recurse
Tall[link.number] = T
File "C:\Users\sun\Downloads\work\Python&&RS\python_gui\venv37\lib\site-packages\spatialmath\baseposelist.py", line 328, in setitem
self.data[i] = value.A
IndexError: list assignment index out of range

[petercorke]

Interesting. It works for the other Panda models, ETS and DH. Something about the kinematic structure of this URDF model. Not immediately clear what's going on, so I've tagged it for later. There's been a lot of flux around fkine_all and I had hoped I wouldn't have to look at it again for a while...

[petercorke]

Fixed in 0.10.1 and on GH master