cm

python/ur_simple_control/util/get_model.py

@@ -185,7 +185,7 @@ def get_yumi_model():
     visual_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.VISUAL, None, mesh_dir_absolute)
     collision_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.COLLISION, None, mesh_dir_absolute)
 
-    data_arms = pin.Data(model)
+    data_arms = pin.Data(model_arms)
 
     # mobile base as planar joint (there's probably a better
     # option but whatever right now)
@@ -226,6 +226,8 @@ def get_yumi_model():
 
     # frame-index should be 1
     model, visual_model = pin.appendModel(model_mobile_base, model_arms, geom_model_mobile_base, visual_model_arms, 1, pin.SE3.Identity())
+    data = model.createData()
+
     return model, visual_model.copy(), visual_model, data