Merge pull request #4 from JuliaRobotics/zero-box-width

don't try to create zero-radius spheres
JuliaRobotics · Jul 19, 2018 · 5407d93 · 5407d93
2 parents 1858e0e + 1888118
commit 5407d93
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/src/skeleton.jl b/src/skeleton.jl
@@ -105,12 +105,14 @@ function visual_elements(mechanism::Mechanism, source::Skeleton)
             push!(elements, inertial_ellipsoid(body))
         else
             for joint in out_joints(body, mechanism)
-                push!(elements, VisualElement(
-                    frame_before(joint),
-                    HyperSphere{3, Float64}(zero(Point{3, Float64}), box_width),
-                    DEFAULT_COLOR, 
-                    IdentityTransformation()
-                ))
+                if !iszero(box_width)
+                    push!(elements, VisualElement(
+                        frame_before(joint),
+                        HyperSphere{3, Float64}(zero(Point{3, Float64}), box_width),
+                        DEFAULT_COLOR,
+                        IdentityTransformation()
+                    ))
+                end
             end
         end
         frames = body_fixed_joint_frames[body]