Add a denominator check, but not sure why
@@ -1344,7 +1344,10 @@ class Joint(URDFType):
value = np.asanyarray(value, dtype=np.float64)
if value.shape != (3,): # pragma nocover
raise ValueError('Invalid shape for axis, should be (3,)')
- value = value / np.linalg.norm(value)
+ norm = np.linalg.norm(value)
+ # HACK, why do I need to this next bit?
+ if norm != 0:
+ value = value / norm
self._axis = value
@property
