Heads up: RBDL misparses links named "base_link" in URDF

stack-of-tasks / pinocchio-benchmarks

Benchmarks of the Pinocchio library

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Heads up: RBDL misparses links named "base_link" in URDF #7

Open tkoolen opened 5 years ago

tkoolen commented 5 years ago

See https://bitbucket.org/rbdl/rbdl/issues/85/urdf-misparsed-when-theres-a-link-named. Notably, this happens with the HyQ URDF.

nim65s commented 5 years ago

Hi @tkoolen, and thanks for this report.

@jcarpent : Could you explain why you added 27c2500f7f9e4104e7f6bd59be73d7006eef5a81 ?

jcarpent commented 5 years ago

Hi Twan, great to see you here. @nim65s If I remember, I had troubles with urdfdom 1.0.0. But this is very far in my mind now. I'm sorry for that very short answer. You can revert it if needed. I will come back to it later on.

nim65s commented 5 years ago

I also have a hard time to remember all the troubles I had with this kind of things, but if I record correctly, I was not able to get all urdf working in Pinocchio, RBDL and KDL at the same time ; I had to change a few things like this link name, and whether they had a base fixed joint or not, to get the results.

I will try again, and document that better, as soon as possible.

jcarpent commented 5 years ago

I think the change in the URDF model has been proposed by @gabrielebndn . You can directly check with him I think.