From 75b5e8b43a28fa3ebff2095744332b48be19dbc9 Mon Sep 17 00:00:00 2001 From: azfarus Date: Tue, 30 Jul 2024 23:39:28 +0600 Subject: [PATCH] assign traj_len when list/tuple is used in robot.animate() function --- urdfpy/urdf.py | 1 + 1 file changed, 1 insertion(+) diff --git a/urdfpy/urdf.py b/urdfpy/urdf.py index 14b0216..2542ce0 100644 --- a/urdfpy/urdf.py +++ b/urdfpy/urdf.py @@ -3472,6 +3472,7 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False): ct = ct.reshape(-1, 1) if ct.ndim != 2 or ct.shape[1] != len(self.actuated_joints): raise ValueError('Cfg trajectory must have entry for each joint') + traj_len=ct.shape[0] ct_np = {j: ct[:,i] for i, j in enumerate(self.actuated_joints)} else: raise TypeError('Invalid type for cfg_trajectory: {}'