Commit af993024 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Initialize initial configuration even if root joint is not free-flyer.

parent 05e72807
......@@ -1170,13 +1170,13 @@ namespace hpp
// Add corresponding body (link) to each joint.
addBodiesToJoints ();
Configuration_t q (robot_->configSize ()); q.setZero ();
// If root joint is freeflyer, set quaternion part of configuration to
// 1.
if (rootJointType_ == "freeflyer") {
Configuration_t q (robot_->configSize ()); q.setZero ();
q [3] = 1;
robot_->currentConfiguration (q);
}
robot_->currentConfiguration (q);
}
} // end of namespace urdf.
......
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