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It seems that it's impossible to create a Universal joint.

When trying the XML parser says :

[xmlreaders.cpp:522] xmlSAXUserParseFile: error parsing file: openrave (Failed): KinBody::Joint::GetValues: unknown joint type 0x80000001

(N.B. : Tried on Ubuntu 11.04, Openrave 0.3.2 and OpenRave 0.4.0)

The error comes in fact from the file kinbody.cpp, in the function void KinBody::Joint::GetValues(vector<dReal>& pValues, bool bAppend) const. In the switch .. case function only JointHinge2 and JointSpherical are tested.

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