simExtURDF: error: there is no joint with name ''
Closed this issue · 3 comments
eslamsherif5 commented
Hello,
I just started learning CoppeliaSim and I'm trying to import a URDF file that includes my robot into CoppeliaSim using the Plugins > URDF Import... command
But I always get an error --> there is no joint with name ' '
What I did:
- Built the ROS package that contains the urdf file using
$ catkin_make
and sourced it - In another terminal I started
$ roscore
- In the first terminal, I ran
$ ./coppeliaSim.sh
I got the following output:
[CoppeliaSimClient] loading the CoppeliaSim library...
[CoppeliaSimClient] done.
[CoppeliaSimClient:loadinfo] launching CoppeliaSim...
[CoppeliaSim:loadinfo] CoppeliaSim V4.2.0., (rev. 1), flavor: 1
[CoppeliaSim:loadinfo] Legacy machine ID: 5000-B6EB-FFC4-9C4A-F7E3-D41D
[CoppeliaSim:loadinfo] Machine ID: 15D3-736C-D53E-0000-00D1-0101
[CoppeliaSim:loadinfo] using the default Lua library.
[CoppeliaSim:loadinfo] loaded the video compression library.
[CoppeliaSim:loadinfo] if CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
>sudo apt install libgl1-mesa-dev
[CoppeliaSim:loadinfo] OpenGL: NVIDIA Corporation, Renderer: GeForce GTX 1050/PCIe/SSE2, Version: 4.6.0 NVIDIA 450.102.04
[CoppeliaSim:loadinfo] simulator launched.
[CoppeliaSim:loadinfo] plugin 'Assimp': loading...
[CoppeliaSim:loadinfo] plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo] plugin 'B0': loading...
[CoppeliaSim:loadinfo] plugin 'B0': load succeeded.
[CoppeliaSim:loadinfo] plugin 'BWF': loading...
[CoppeliaSim:loadinfo] plugin 'BWF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'BubbleRob': loading...
[CoppeliaSim:loadinfo] plugin 'BubbleRob': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': loading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': loading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': load succeeded.
[CoppeliaSim:loadinfo] plugin 'CodeEditor': loading...
[simExtCodeEditor:loadinfo] CodeEditor plugin initialized
[CoppeliaSim:loadinfo] plugin 'CodeEditor': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo] plugin 'ConvexDecompose': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': loading...
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': load succeeded.
[CoppeliaSim:loadinfo] plugin 'GLTF': loading...
[CoppeliaSim:loadinfo] plugin 'GLTF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Geom': loading...
[CoppeliaSim:loadinfo] plugin 'Geom': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ICP': loading...
[CoppeliaSim:loadinfo] plugin 'ICP': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IK': loading...
[CoppeliaSim:loadinfo] plugin 'IK': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IM': loading...
[CoppeliaSim:loadinfo] plugin 'IM': load succeeded.
[CoppeliaSim:loadinfo] plugin 'K3': loading...
[CoppeliaSim:loadinfo] plugin 'K3': load succeeded.
[CoppeliaSim:loadinfo] plugin 'LuaCmd': loading...
[CoppeliaSim:loadinfo] plugin 'LuaCmd': load succeeded.
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': loading...
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': load succeeded.
[CoppeliaSim:loadinfo] plugin 'MTB': loading...
[CoppeliaSim:loadinfo] plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Newton': loading...
[CoppeliaSim:loadinfo] plugin 'Newton': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ODE': loading...
[CoppeliaSim:loadinfo] plugin 'ODE': load succeeded.
[CoppeliaSim:loadinfo] plugin 'OMPL': loading...
[CoppeliaSim:loadinfo] plugin 'OMPL': load succeeded.
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': loading...
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': load succeeded.
[CoppeliaSim:loadinfo] plugin 'OpenMesh': loading...
[CoppeliaSim:loadinfo] plugin 'OpenMesh': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Qhull': loading...
[CoppeliaSim:loadinfo] plugin 'Qhull': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RML2': loading...
[CoppeliaSim:loadinfo] plugin 'RML2': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ROS': loading...
[CoppeliaSim:loadinfo] plugin 'ROS': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RRS1': loading...
[CoppeliaSim:loadinfo] plugin 'RRS1': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RemoteApi': loading...
[simExtRemoteApi:loadinfo] starting a remote API server on port 19997
[CoppeliaSim:loadinfo] plugin 'RemoteApi': load succeeded.
[CoppeliaSim:loadinfo] plugin 'SDF': loading...
[CoppeliaSim:loadinfo] plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'SurfRec': loading...
[CoppeliaSim:loadinfo] plugin 'SurfRec': load succeeded.
[CoppeliaSim:loadinfo] plugin 'UI': loading...
[CoppeliaSim:loadinfo] plugin 'UI': load succeeded.
[CoppeliaSim:loadinfo] plugin 'URDF': loading...
[CoppeliaSim:loadinfo] plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'URLDrop': loading...
[CoppeliaSim:loadinfo] plugin 'URLDrop': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Vision': loading...
[CoppeliaSim:loadinfo] plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo] plugin 'ZMQ': load succeeded.
[CoppeliaSim:loadinfo] using the 'Geometric' plugin.
[CoppeliaSim:loadinfo] using the 'IK' plugin.
[simExtURDF:error] simExtURDF: error: there is no joint with name ''
[simExtURDF:error] simExtURDF: error: there is no joint with name ''
[simExtURDF:error] simExtURDF: error: there is no joint with name ''
[simExtURDF:error] simExtURDF: error: there is no joint with name ''
QH6214 qhull input error: not enough points(3) to construct initial simplex (need 4)
While executing: | qhull
Options selected for Qhull 2012.1 2012/02/18:
run-id 930089492 _pre-merge _zero-centrum
[simExtURDF:error] simExtURDF: error: there is no joint with name ''
qhull precision warning:
The initial hull is narrow (cosine of min. angle is 0.9999999999999993).
Is the input lower dimensional (e.g., on a plane in 3-d)? Qhull may
produce a wide facet. Options 'QbB' (scale to unit box) or 'Qbb' (scale
last coordinate) may remove this warning. Use 'Pp' to skip this warning.
See 'Limitations' in qh-impre.htm.
I attached a picture of the robot after importing it into CoppeliaSim
Thanks.
Coppelia commented
Hello,
can you make sure that the mentioned joints actually have a name in the URDF file? If not, try to give them an appropriate name
sadiq26 commented
I got the same error when using it on windows
Coppelia commented
Please use the last source code. Those messages were erroneously output, and we have fixed that. Or you can simply ignore those messages