Commit 64676d0a authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Do not fail if a fixed joint has mimic info.

parent 682221c5
......@@ -263,7 +263,7 @@ namespace hpp {
for (UrdfJointMap_t::const_iterator _joint = urdfTree->joints_.begin();
_joint != urdfTree->joints_.end(); ++_joint) {
const PINOCCHIO_URDF_SHARED_PTR(::urdf::Joint)& joint = _joint->second;
if (joint && joint->mimic) {
if (joint && joint->type != ::urdf::Joint::FIXED && joint->mimic) {
Device::JointLinearConstraint constraint;
constraint.joint = robot->getJointByName (prefix + joint->name);
constraint.reference = robot->getJointByName (prefix + joint->mimic->joint_name);
......
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