Merges develop.

maxspahn · Nov 9, 2023 · b849205 · b849205
2 parents f20e7e0 + b6b4b35
commit b849205
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Showing 4 changed files with 17 additions and 7 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,10 @@ All notable changes to this project will be documented in this file.
 
 ### Bug Fixes
 
-- Removes space in git cliff command. Adds version number to python import.
+- Optional link transformation is only added after looping through the joints.
+
+### Ft[version]
+
+- Relaxes python version to <4.0
 
 <!-- generated by git-cliff -->
diff --git a/forwardkinematics/urdfFks/casadiConversion/urdfparser.py b/forwardkinematics/urdfFks/casadiConversion/urdfparser.py
@@ -158,7 +158,7 @@ def get_forward_kinematics(self, root, tip, q, link_transformation=np.eye(4)):
                     joint.axis, q[self._joint_map[joint.name]])
                 T_fk = ca.mtimes(T_fk, joint_frame)
 
-            T_fk = ca.mtimes(T_fk, link_transformation)
+        T_fk = ca.mtimes(T_fk, link_transformation)
 
         return {
             "T_fk": T_fk

diff --git a/poetry.lock b/poetry.lock
diff --git a/pyproject.toml b/pyproject.toml
@@ -10,7 +10,7 @@ repository = "https://github.com/maxspahn/forwardKinematics.git"
 
 
 [tool.poetry.dependencies]
-python = "^3.8,<3.10"
+python = "^3.8,<4.0"
 casadi = "^3.5.4,!=3.5.5.post1,!=3.5.5.post2"
 numpy = "^1.15.3"
 urdf_parser_py = ">=0.0.3"