That does seem a little better to me

- Russ


> On May 29, 2014, at 7:32 AM, Andres Valenzuela <notifications@github.com> wrote:
> 
> In systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m:
> 
> > @@ -1372,6 +1372,9 @@ function drawLCMGLClosestPoints(model,lcmgl,kinsol,varargin)
> >  
> >      function d=surfaceTangents(obj,normal)
> >        %% compute tangent vectors, according to the description in the last paragraph of Stewart96, p.2678
> > +      % Handle the trivial case of empty normals
> It was getting called with empty normals when there were no potential collisions inthe model. I can make it an error in surfaceTangents and move this logic up into contactConstraints if you think that's better.
> 
> —
> Reply to this email directly or view it on GitHub.