I have a problem to import my urdf file.

[kHan0809]

I have a problem to import my urdf file.

I want to import my own urdf using under code.

import pybullet as p
import time
import pybullet_data
physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #optionally
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
startPos = [0,0,1]
startOrientation = p.getQuaternionFromEuler([0,0,0])
boxId = p.loadURDF("./quadruped.urdf",startPos, startOrientation)

but I got the below error

Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: joint '(null)' is not unique.
Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: FBFixedJoint1
pybullet build time: Dec  1 2021 18:33:04

retarget_motion/test_urdf_load.py:None (retarget_motion/test_urdf_load.py)
test_urdf_load.py:10: in <module>
    boxId = p.loadURDF("./quadruped.urdf",startPos, startOrientation)
E   pybullet.error: Cannot load URDF file.

Here is my urdf and stl file.

pleas help me.

quadruped.zip

Thank you!!

[kHan0809]

I solved this problem
This problem was just caused by the wrong joint name.