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raisimTech / raisimLib

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Incorrect URDF Loading #516

Closed ghost closed 10 months ago

ghost commented 10 months ago

Hi,

I am using the latest master branch raisimpy to load an URDF exported from SW. It has 6 joints and a floating base. The robot cannot be correctly loded while only part of the joints can be. image image image

jhwangbo commented 10 months ago

can you share the URDF?

ghost commented 10 months ago

can you share the URDF?

I have sent to info.raisim@gmail.com

ghost commented 10 months ago

It seems like since some version, the link name "base_link" causes segfault in the raisim urdf loading function?

jhwangbo commented 10 months ago

Yes, someone pointed out that the name "base_link" is reserved for a fixed-base robot. But after digging into this topic, I realized that is not true.

I'll revert this change. Until then, you can use another name for the base.

Let me know if that fixes your issue

ghost commented 10 months ago

Yes, someone pointed out that the name "base_link" is reserved for a fixed-base robot. But after digging into this topic, I realized that is not true.

I'll revert this change. Until then, you can use another name for the base.

Let me know if that fixes your issue

It does. Thanks for your reply. I will close the issue now.