Merge pull request #20 from cmower/cmower-mod-vis

Update to visualizer: when a joint angle is not given in the initial state, default to 0
neka-nat · Jun 3, 2024 · 36f9add · 36f9add
2 parents 6c36909 + c9ec0ac
commit 36f9add
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/kinpy/visualizer.py b/kinpy/visualizer.py
@@ -228,7 +228,7 @@ def _set_joint_slider(self, chain: Chain) -> List[vtk.vtkSliderWidget]:
             slider_rep = vtk.vtkSliderRepresentation2D()
             slider_rep.SetMinimumValue(-180)
             slider_rep.SetMaximumValue(180)
-            slider_rep.SetValue(np.rad2deg(self._joint_angles[frame.joint.name]))
+            slider_rep.SetValue(np.rad2deg(self._joint_angles.get(frame.joint.name, 0.0)))
             slider_rep.SetSliderLength(0.05)
             slider_rep.SetSliderWidth(0.02)
             slider_rep.SetEndCapLength(0.01)