urdf import plugIn

[need2know]

Hi,

i updated coppeliaSim to v4.10 (previous: 4.9). Since then i cant use the urdf import module anymore.
i ve tried to import a robot model in a script via:

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simURDF.import()

and i ve tried to import the mesh manually via modules>importers>urdf importer.
but only the joints were imported in both cases and following error occured:

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sim.genericFunctionHandler: object does not exist.

on v4.9 i used the urdf importer on the exact same way and it worked.
is this a bug of the import-module or changed the syntax of the function in the new coppeliaSim version?

Cheers

[coppelia]

Hello,

can you share the URDF file that does not work anymore?

Cheers

[need2know]

sure, ive send a link for a download portal to following email adress: [email protected]
(ive already worked with this urdf-file in v4.9)

Cheers

[coppelia]

Can you share how you exactly import the URDF? Do you use a replacement string for "package"?

Cheers

[need2know]

i use following code to import the urdf in a lua-script:

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    --import urdf
    robotname, robotHandles = simURDF.import(sPath,options)

sPath is a string which leads to the folder with the urdf-file on the local storage
the chosen options are following:

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    local show_collision_links = 1<<0 --bit0
    local showJoints = 1<<1 --bit1
    local perform_convex_decompose_on_non_convex_collidables = 1<<2 --bit2
    local create_visual_if_none = 1<<3 --bit3
    local bit4 = 1<<4 --bit4
    local do_not_center_above_ground = 1<<5 --bit5
    local do_not_make_model = 1<<6 --bit6
    local do_not_alternate_local_respondable_masks = 1<<7 --bit7
    local no_position_control_of_dynamic_joints = 1<<8 --bit8
    local perform_convex_hull_on_non_convex_collidables = 1<<9 --bit9
    local set_shape_origin_at_joint_location_where_possible = 1<<10 --bit10
    
    local options = 0
    options = (create_visual_if_none|no_position_control_of_dynamic_joints|do_not_center_above_ground) --choose options

currently no replacement string is specified (neither was with v4.9)

Cheers

[coppelia]

There is indeed a regression that we introduced in V4.10
You can find fixed simURDF plugins here (Win and Ubuntu only).

Cheers