Chain.forward_kinematics() got an unexpected keyword argument 'end_only'

[mrsbCN]

Thanks for you excellent repository. I am using it for dexterous hand, which could not created with SerialChain. So, I use pk.build_chain_from_urdf, but got Chain.forward_kinematics() got an unexpected keyword argument 'end_only'. The problem occur in model_to_sdf.py at line 99 with tf = self.chain.forward_kinematics(joint_config, end_only=False). But the forward_kinematics of Chain is defined as forward_kinematics(self, th, frame_indices: Optional = None). I simply add a conditional statements as below:

        if isinstance(self.chain, pk.Chain):
            tf = self.chain.forward_kinematics(joint_config)
        else:
            tf = self.chain.forward_kinematics(joint_config, end_only=False)

I wonder if this modification is in line with your ideas.

[LemonPi]

Hi I think there was a refactor at some point where now there is an inconsistency in input parameters (especially for serial chain vs chain where end effector doesn't exist). What you have posted makes sense