Update initial pose setup
@@ -58,8 +58,7 @@ class DefaultJoint:
# Set the other reference frame vectors
self.__graphic_ref = draw_reference_frame_axes(self.__pose, self.__scene)
- # Apply the initial pose if not given an STL (STL may need origin updating)
- if isinstance(structure, float):
+ # Apply the initial pose
self.update_pose(self.__pose)
def update_position(self, se_object):
@@ -483,7 +482,7 @@ class GraphicalRobot:
all_poses = self.robot.fkine_all(zero_angles)
# Create the base
if robot.basemesh is not None:
- self.append_link("s", all_poses[0], robot.basemesh, [0, 0], 0)
+ self.append_link("s", SE3(), robot.basemesh, [0, 0], 0)
# else: assume no base joint
# Create the joints
i = 0
