[robots] Fix init attitude for fixed based robots #424
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Hi @arntanguy Thanks for the fix. I have implemented it in a slightly different way in the commit referenced above. |
gergondet
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Feb 5, 2024
Added -- - [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431) - [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425) - [mc_rtc] Add path helpers (#431) - [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431) Changes -- - [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430) Fixes -- - [mc_rbdyn] Always use default_attitude to initialize the attitude (#424) - [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask
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This PR fixes the initialization of
posWin case of a fixed-based robot.In that case we do not have a floating joint and cannot simply set
mbc().q[0].