Error with buildReducedModel

[maymohan]

Hello,

I recently started using Pinocchio and am interested in building a reduced model for a single arm of a Baxter robot.

I followed the example in the wiki. But, I get the following error:
ValueError: Several frames match the filter - please specify the FrameType

Here is a minimum working example of my code:

import pinocchio as pin
import numpy as np


# Build the model
pinocchio_model_dir = "./models/" 
mesh_dir = pinocchio_model_dir
urdf_filename = ("./baxter.urdf")
# Load the urdf model
model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_filename, mesh_dir)


# Build the reduced model
relevantJoints = ['right_s0',
 'right_s1',
 'right_e0',
 'right_e1',
 'right_w0',
 'right_w1',
 'right_w2']

jointsToLockIDs = []
initialJointConfig = np.array([0, #head
				 0, 0,0, 0.1,0,0,0,  # Left arm				 
				 0, 0,0, 0.1,0,0,0  ])# Right arm

for name in model.names:			
	if not name in relevantJoints:	
		if model.existJointName(name):
			jointsToLockIDs.append(model.getFrameId(name))
		else:
			print('Warning: joint ' + str(name) + ' does not belong to the model!')
			
model_reduced = pin.buildReducedModel(model, visual_model, jointsToLockIDs, initialJointConfig)

Here is Baxter's URDF.

I looked around quite a bit and could not find anyway to resolve the issue. I would appreciate any help in resolving the issue.

Please let me know if I can provide any other information. Thank you for your help!

[stephane-caron]

I could reproduce your error 👍 This is a bug report rather than an open question, thus I suggest closing this discussion here and continuing in the corresponding issue: #2313

[maymohan]

Thank you for responding to my question and opening the issue. :)