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URDF animate method fix for non-dict trajectories #39

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URDF animate method fix for non-dict trajectories #39

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1 change: 1 addition & 0 deletions urdfpy/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3472,6 +3472,7 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False):
ct = ct.reshape(-1, 1)
if ct.ndim != 2 or ct.shape[1] != len(self.actuated_joints):
raise ValueError('Cfg trajectory must have entry for each joint')
traj_len=ct.shape[0]
ct_np = {j: ct[:,i] for i, j in enumerate(self.actuated_joints)}
else:
raise TypeError('Invalid type for cfg_trajectory: {}'
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