Don't iterate on collision geometries when undefined

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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Don't iterate on collision geometries when undefined #2147

Closed stephane-caron closed 7 months ago

stephane-caron commented 7 months ago

Closes https://github.com/stack-of-tasks/pinocchio/issues/2146

stephane-caron commented 7 months ago

I have tested this change locally and it loads my collision-less model :smiley:

(I looked into the unit test directory to see if we already had a fixture for visualizers where I could add a test for this, but we don't. Maybe hard to add to the CI?)