If the first element of the list passed to Robot() is not a KinematicGroup, for example for modeling simple robots with no closed chains, the constructor fails.
Steps to reproduce: create two transformations and pass them to Robot().
Exception has occurred: KeyError 'shoulder_tra'
File "(...)\trip_kinematics\Robot.py", line 45, in __init__
parent=self._group_dict[str(kinematic_chain[i-1])])
If the first element of the list is a Transformation, self._group_dict never gets set (as this only happens after the check).
If the first element of the list passed to Robot() is not a KinematicGroup, for example for modeling simple robots with no closed chains, the constructor fails.
Steps to reproduce: create two transformations and pass them to Robot().
fails with the following error:
If the first element of the list is a
Transformation
,self._group_dict
never gets set (as this only happens after the check).