Comments (3)
Hello @jurka14,
The error is coming from the fact that you need to specify your root element of your robot using the base_elements
argument.
Currently, the default base_elements=["base_link"]
is used, which is not to be found in your URDF.
Yours needs to be base_elements=["base_Link"]
(notice the uppercase L!!)
If you do:
chain1 = chain.Chain.from_urdf_file(
"Rameno_sestava.SLDASM.urdf", base_elements=["base_Link"])
print(chain1)
# The resulting chain1 is:
# Kinematic chain name=chain links=['Base link', 'Rotating_base_Joint', 'First_arm_Joint', 'Second_arm_Joint', 'Barrel_part_Joint', #'End_point_Joint'] active_links=[ True True True True True True]
This works!
In parallel, IKPy was silently failing when you provided a wrong base_elements
(or were using the default one when it didn't fit, as in your case). This has been fixed in v3.2
and IKPy will raise an explicit error
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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.
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Hello @jurka14,
This is very strange, since this URDF is tested frequently and works.
Can you compare your code to this one:
https://www.github.com/Phylliade/ikpy/tree/master/tests%2Ftest_poppy_robots.py
?
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