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Fix Device::setRobotRootJoint #206

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Merged
florent-lamiraux merged 1 commit into from
Apr 30, 2025
Merged

Fix Device::setRobotRootJoint #206

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2 changes: 1 addition & 1 deletion src/device.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ void Device::setRobotRootPosition(const std::string& rn, const Transform3s& t) {

Transform3s shift(t * rootFrame.placement.inverse());
// Find all the frames that have the same parent joint.
for (std::size_t i = 1; i < idxs.size(); ++i) {
for (std::size_t i = 0; i < idxs.size(); ++i) {
Frame& frame = m.frames[idxs[i]];
if (frame.parent == rootFrame.parent) {
// frame is between rootFrame and next moving joints.
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