From ad14f2bb6249b63c44e046789b7c05a8e3d80f97 Mon Sep 17 00:00:00 2001 From: Henning Wiedemann Date: Mon, 18 Sep 2023 13:00:19 +0200 Subject: [PATCH] Fix transformation loading --- phobos/io/xmlrobot.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/phobos/io/xmlrobot.py b/phobos/io/xmlrobot.py index 0c81ef9e..70a31c5b 100644 --- a/phobos/io/xmlrobot.py +++ b/phobos/io/xmlrobot.py @@ -761,10 +761,10 @@ def get_transformation(self, end, start=None, end_type=None): frame = None l_frame = self.get_link(end) j_frame = self.get_joint(end) - if j_frame is not None: - frame = j_frame - if frame is None: + if l_frame is not None: frame = l_frame + if frame is None: + frame = j_frame if frame is None: raise AssertionError(f"There is neither a joint nor a link with name {end}")