Merge pull request #8 from mees/dummyLink

Add check to avoid crash with dummy links
facebookresearch · Apr 26, 2021 · d9b6a8b · d9b6a8b
2 parents a93a065 + 8c5e1c5
commit d9b6a8b
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/tacto/sensor.py b/tacto/sensor.py
@@ -125,8 +125,9 @@ def add_object(self, urdf_fn, obj_id, globalScaling=1.0):
         robot = URDF.load(urdf_fn)
 
         for link_id, link in enumerate(robot.links):
+            if len(link.visuals) == 0:
+                continue
             link_id = link_id - 1
-
             # Get each links
             visual = link.visuals[0]
             obj_trimesh = visual.geometry.meshes[0]