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Problem on using URDF
Posted: 10 Apr 2021, 19:48
by ahmedelwaly
I am trying to import my robot model using URDF plugin, but when i import, it says
Code: Select all
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?
Re: Problem on using URDF
Posted: 12 Apr 2021, 12:51
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
Re: Problem on using URDF
Posted: 04 May 2021, 12:47
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
Re: Problem on using URDF
Posted: 04 May 2021, 14:29
by coppelia
Hello Andres,
can you post a minimalistic, self-contained URDF file that illustrates this problem?
Cheers
Re: Problem on using URDF
Posted: 06 May 2021, 11:57
by fai
Sure! Here you go.
Code: Select all
<?xml version="1.0" ?>
<robot name="assembly" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.025 0.025 0.1"/>
<mass value="3.925"/>
<inertia ixx="0.013901" ixy="-0.0" ixz="-0.0" iyy="0.013901" iyz="0.0" izz="0.001635"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="silver_default"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
</collision>
</link>
<link name="box_v2_1">
<inertial>
<origin rpy="0 0 0" xyz="0.025 0.024999999999999994 -0.025"/>
<mass value="0.98125"/>
<inertia ixx="0.000409" ixy="0.0" ixz="-0.0" iyy="0.000409" iyz="0.0" izz="0.000409"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0 -0.05 -0.0"/>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
<material name="silver_default"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 -0.05 -0.0"/>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
</collision>
</link>
<joint name="Rev2" type="continuous">
<origin rpy="0 0 0" xyz="0.0 0.05 0.0"/>
<parent link="base_link"/>
<child link="box_v2_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
</robot>
And this is the output:
simExtURDF: info: import operation started.
simExtURDF: info: there are 1 joints.
simExtURDF: error: there is no joint with name ''
simExtURDF: info: there are 2 links.
simExtURDF: info: creating link 'base_link'...
simExtURDF: error: there is no joint with name ''
simExtURDF: info: creating link 'box_v2_1'...
simExtURDF: info: there are 0 sensors.
simExtURDF: info: import operation finished.
The loaded model looks fine: two bodies joined with a revolute joint..
Re: Problem on using URDF
Posted: 07 May 2021, 09:13
by coppelia
Thanks for the file.
Those error messages are actually faulty, and shouldn't show. This is fixed for next release or revision. In the mean time simply ignore them.
Cheers