Unverified Commit 8084a90a authored by Carlos Mastalli's avatar Carlos Mastalli Committed by GitHub
Browse files

Merge pull request #80 from cmastalli/topic/q0-with-no-srdf

 Define q0 as neutral if the robot doesn't have a SRDF
parents 47283575 c89f2524
......@@ -66,11 +66,11 @@ class RobotLoader(object):
if self.srdf_filename:
self.srdf_path = join(self.model_path, self.path, self.srdf_subpath, self.srdf_filename)
self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose,
self.has_rotor_parameters, self.ref_posture)
self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose, self.has_rotor_parameters,
self.ref_posture)
else:
self.srdf_path = None
self.robot.q0 = None
self.robot.q0 = pin.neutral(self.robot.model)
if self.free_flyer:
self.addFreeFlyerJointLimits()
......
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