ctc-eng
diff --git a/‎roboticstoolbox/robot/ERobot.py
Lines changed: 8 additions & 28 deletions b/‎roboticstoolbox/robot/ERobot.py
Lines changed: 8 additions & 28 deletions
diff --git a/‎roboticstoolbox/robot/ETS.py
Lines changed: 19 additions & 0 deletions b/‎roboticstoolbox/robot/ETS.py
Lines changed: 19 additions & 0 deletions
@@ -946,33 +946,22 @@ class ERobot(BaseERobot):
 
     def __init__(self, arg, **kwargs):
 
-
         if isinstance(arg, DHRobot):
             # we're passed a DHRobot object
             # TODO handle dynamic parameters if given
             arg = arg.ets()
 
-        link_number = 0
         if isinstance(arg, ETS):
             # we're passed an ETS string
             ets = arg
             links = []
-
             # chop it up into segments, a link frame after every joint
-            start = 0
-            for j, k in enumerate(ets.joints()):
-                ets_j = ets[start:k + 1]
-                start = k + 1
-                if j == 0:
-                    parent = None
-                else:
-                    parent = links[-1]
+            parent = None
+            for j, ets_j in enumerate(arg.split()):
                 elink = ELink(ets_j, parent=parent, name=f"link{j:d}")
+                parent = elink
                 links.append(elink)
-            tail = arg[start:]
-            if len(tail) > 0:
-                elink = ELink(tail, parent=links[-1], name=f"link{j+1:d}")
-                links.append(elink)
+            
         elif islistof(arg, ELink):
             links = arg
         else:
@@ -2114,22 +2103,13 @@ def __init__(self, arg, **kwargs):
             # we're passed an ETS string
             ets = arg
             links = []
-    
             # chop it up into segments, a link frame after every joint
-            start = 0
-            for j, k in enumerate(ets.joints()):
-                ets_j = ets[start:k + 1]
-                start = k + 1
-                if j == 0:
-                    parent = None
-                else:
-                    parent = links[-1]
+            parent = None
+            for j, ets_j in enumerate(arg.split()):
                 elink = ELink2(ets_j, parent=parent, name=f"link{j:d}")
+                parent = elink
                 links.append(elink)
-            tail = arg[start:]
-            if len(tail) > 0:
-                elink = ELink2(tail, parent=links[-1], name=f"link{j+1:d}")
-                links.append(elink)
+
         elif islistof(arg, ELink2):
             links = arg
         else:
 
@@ -530,6 +530,25 @@ def eval(self, q=None, unit='rad'):
 
         return T
 
+    def split(self):
+        """
+        Split ETS into link segments
+
+        Returns a list of ETS, each one, apart from the last,
+        ends with a variable ET.
+        """
+        segments = []
+        start = 0
+        for j, k in enumerate(self.joints()):
+            ets_j = self[start:k + 1]
+            start = k + 1
+            segments.append(ets_j)
+        tail = self[start:]
+        if len(tail) > 0:
+            segments.append(tail)
+        
+        return segments
+
     def compile(self):
         """
         Compile an ETS