URDF Error when turning on Collision Manager for RE2

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1

Hello,

I’m trying to turn on the default collision manager for the RE2, however when I change the stretch_user_params.yaml file so that the robot attribute use_collision_manager is set to 1, I get this error with stretch_body.robot.startup():

In [6]: r.startup()
Out[6]: False

Exception in thread Thread-5:
Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/home/jehanyang/.local/lib/python3.8/site-packages/stretch_body/robot.py", line 88, in run
    self.robot.collision.step()
  File "/home/jehanyang/.local/lib/python3.8/site-packages/stretch_body/robot_collision.py", line 97, in step
    new_limits=m.step(status)
  File "/home/jehanyang/.local/lib/python3.8/site-packages/stretch_tool_share/stretch_dex_wrist/collision_model.py", line 53, in step
    pose = self.fk.tool_fk(cfg, 'link_gripper_fingertip_left')
  File "/home/jehanyang/.local/lib/python3.8/site-packages/stretch_body/robot_collision.py", line 155, in tool_fk
    joint_cfg = self.robot_model._process_cfg(cfg)
AttributeError: 'URDF' object has no attribute '_process_cfg'```
2

Thanks for reporting this @jehan, I’m beginning to look into this issue and I’d like to replicate the AttributeError on my robot. Can you tell me what version of Stretch Body and urdfpy you have installed? You can run pip3 list and copy/paste the output here.