[robots] Fix init attitude for fixed based robots

jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control

BSD 2-Clause "Simplified" License

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[robots] Fix init attitude for fixed based robots #424

Closed arntanguy closed 8 months ago

arntanguy commented 8 months ago

This PR fixes the initialization of posW in case of a fixed-based robot. In that case we do not have a floating joint and cannot simply set mbc().q[0].

gergondet commented 8 months ago

Hi @arntanguy

Thanks for the fix. I have implemented it in a slightly different way in the commit referenced above.