Merge pull request #66 from s4hri/fix_position_controller

Fixed joints_list empty
s4hri · Aug 25, 2024 · 244c7ea · 244c7ea
2 parents c957eca + 23a4a4e
commit 244c7ea
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/pyicub/__init__.py b/pyicub/__init__.py
@@ -31,5 +31,5 @@
 __authors__ = 'Davide De Tommaso, Adam Lukomski, Nicola Russi'
 __emails__ = '[email protected], [email protected], [email protected]'
 __license__ = 'BSD-2'
-__version__ = '8.1.0'
+__version__ = '8.1.1'
 __description__ = 'Developing iCub applications using Python'
diff --git a/pyicub/controllers/position.py b/pyicub/controllers/position.py
@@ -189,11 +189,11 @@ def move(self, pose: JointPose, req_time: float=0.0, timeout: float=DEFAULT_TIME
         t0 = time.perf_counter()
         target_joints = pose.target_joints
         joints_list = pose.joints_list
-        self.setPositionControlMode(joints_list=joints_list)
-
         if joints_list is None:
             joints_list = range(0, self.__joints__)
-
+
+        self.setPositionControlMode(joints_list=joints_list)
+
         if not joints_speed:
             for j in joints_list:
                 ref_speed = 10.0