Problem on using URDF

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ahmedelwaly
Posts: 2
Joined: 06 Apr 2021, 21:31

Problem on using URDF

Post by ahmedelwaly »

I am trying to import my robot model using URDF plugin, but when i import, it says

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simExtURDF: info: import operation started.
simExtURDF: info: there are 12 joints.
simExtURDF: error: there is no joint with name ''
simExtURDF: error: there is no joint with name ''
simExtURDF: error: there is no joint with name ''
simExtURDF: error: there is no joint with name ''
simExtURDF: info: there are 13 links.
I don't understand the error "ERROR: there is no joint with name ''" .

Do you have any suggestions as to how to import the model correctly?

coppelia
Site Admin
Posts: 8513
Joined: 14 Dec 2012, 00:25

Re: Problem on using URDF

Post by coppelia »

Hello,

the error means that the joint does not have any name, in the URDF file. This does not always mean that the file is faulty. But what a simulator expects from a file and what is actually in the file can greatly vary.

Does the import operation produce anything? Or what is the problem, next to the error messages?

Cheers

fai
Posts: 4
Joined: 23 Sep 2015, 21:04

Re: Problem on using URDF

Post by fai »

Hi,
I have the same error message, but the imported model seems right.
My urdf file looks like:

<joint name="Rigid13" type="fixed">
<origin rpy="0 0 0" xyz="0.054297 -0.07 0.1"/>
<parent link="base_link"/>
<child link="Quader1_1"/>
</joint>

<joint name="Rev14" type="continuous">
<origin rpy="0 0 0" xyz="0.217851 0.050972 0.1"/>
<parent link="Quader1_1"/>
<child link="Component4_1"/>
<axis xyz="1.0 0.0 0.0"/>

So, it looks like the name for the joints are well defined. In fact, the imported joints in CoppeliaSim appear with these names. So, is this just a bug in the plugging or should the joints be defined in some other way?
Cheers,
Andres

coppelia
Site Admin
Posts: 8513
Joined: 14 Dec 2012, 00:25

Re: Problem on using URDF

Post by coppelia »

Hello Andres,

can you post a minimalistic, self-contained URDF file that illustrates this problem?

Cheers

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