Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This pr should fix #17.
A cycle over the joints is added to ensure that a parent link is added to the parent list only if it is already in the link list.
This check allows the current loading of
urdf
s in which the joints order is not the one in the kinematic tree.I'm also being less strict with the link with no inertia. Before the links with no
inertial
field in the urdf were skipped. Now I'm not skipping but adding a zero inertia in the computations.