Open Zionshang opened 1 month ago
I printed out all the frame names for these two models.
--------------name of manipulator frame-- -- -- -- -- -- --
Frame 0: universe
Frame 1: root_joint
Frame 2: link00
Frame 3: joint1
Frame 4: link01
--------------name of quadruped frame-- -- -- -- -- -- --
Frame 0: universe
Frame 1: root_joint
Frame 2: base
Frame 3: floating_base
Frame 4: trunk
Frame 5: imu_joint
Frame 6: imu_link
It seems that root_joint
caused the error.
The question is, why did root_joint
appear? I don't define them in the URDF
Is there a root_joint
every time when loading a model from URDF? If so, I think it will never be possible to combine two URDFs model together via appendModel
. :(
@MegMll Could you handle this issue?
I will look into it this week
Bug description
I'm trying to combine two models into a new one by
appendModel()
method. But I get the following errorI'm pretty sure that the two models don't have conflicting frame names. Because when I manually combined URDF files of these two models together, there was no problem
Code
The output is
The simplified URDF file
manipulator.urdf
is:The simplified URDF file
quadrupedRobot.urdf
is:Judging by the URDF, they don't have the same frame name Is it because they all have
universe joint 0
, so there is the error?I've been haunted for a long time and I would be so grateful if you could help me!