Creating planner without SRDF parameter causing crash in v0.1.1

[rafaelBauer]

I am creating a Planner object without passing the SRDF path, and the software is crashing:

self.__path_planner = Planner(urdf=ROBOT_INFO.urdf_path,
                                      srdf="",
                                      user_link_names=ROBOT_INFO.links,
                                      user_joint_names=ROBOT_INFO.joints,
                                      move_group=TARGET_LINK_TO_MOVE,
                                      joint_vel_limits=np.ones(7),
                                      joint_acc_limits=np.ones(7)
                                      )

in the same place as the urdf, the srdf file is present, and the constructor is finding the srdf file. The reason for the crash is this line in version 0.1.1 (copied bellow)

 if srdf == "":
            self.generate_collision_pair()            # it is expecting the object to have self.link_name_2_idx but only added later to object
            self.robot.update_SRDF(self.srdf)

I see this is not main anymore. Do you have a forecast for an official release where this is fixed?

[KolinGuo]

Hi, thank you for using MPlib.
I believe this issue is resolved in #70.

As for the release timeline, I cannot promise an exact date for the next stable release (v0.2.0) as I was caught up in other duties recently. I'll try my best to get it done soon.

In the meantime, you can try our alpha release v0.2.0a0 by installing with pip install mplib==0.2.0a0. This Planner init issue should be fixed in that.
The corresponding docs are here.

Please let us know if you catch any additional bugs in v0.2.0a0.

[rafaelBauer]

Hello @KolinGuo,

Thank you very much for your fast response!

Sure I'll use the alpha version and let you know if I find any issues!

Cheers,
Rafa