Merge pull request #81 from compas-dev/robot-without-base

Assume a robot without a parent joint on its base is on the worldXY origin

Author: gonzalocasas

CHANGELOG.rst

@@ -20,6 +20,8 @@ Unreleased
 
 **Fixed**
 
+* Use WorldXY's origin as default for robots that are have no parent join on their base
+
 **Deprecated**
 
 0.7.0

src/compas_fab/robots/robot.py

@@ -270,7 +270,7 @@ def _get_current_base_frame(self, full_configuration, group):
         --------
         """
 
-        base_link = self.get_base_link_name(group)
+        base_link = self.get_base_link(group)
         # the group's original base_frame
         base_frame = self.get_base_frame(group)
 
@@ -282,7 +282,11 @@ def _get_current_base_frame(self, full_configuration, group):
         # That's why we have to do the workaround with the Transformation.
 
         joint_state = dict(zip(joint_names, joint_positions))
-        base_frame_WCF = self.model.forward_kinematics(joint_state, link_name=base_link)
+
+        if not base_link.parent_joint:
+            base_frame_WCF = Frame.worldXY()
+        else:
+            base_frame_WCF = self.model.forward_kinematics(joint_state, link_name=base_link.name)
         base_frame_RCF = self.represent_frame_in_RCF(base_frame_WCF, group)
 
         base_frame_RCF.point *= self.scale_factor