*_FOOT not found error

[zhuhaier1992]

When running train.py, there is an error report:

ValueError: Error while parsing 'contact_forces:sensor_cfg'. Not all regular expressions are matched! Please check that the regular expressions are correct: 
	.*_FOOT: []
Available strings: ['TORSO', 'FL_HIP', 'FL_THIGH', 'FL_SHANK', 'FR_HIP', 'FR_THIGH', 'FR_SHANK', 'HL_HIP', 'HL_THIGH', 'HL_SHANK', 'HR_HIP', 'HR_THIGH', 'HR_SHANK']

It seems the USD model converted by urdf_to_usd() missed all the *_FOOT part. I tried to set merge_joints=False, it then run smoothly.
According to official doc, this option would consolidate links that are connected by fixed joints if set True.
So my question is, should it be set False or is there another problem?

[bopeng5221]

Hi, thank you for posting the issue. So I've tested a brand new installation but I didn't noticed this problem. When I checked the model, there seems to be a FOOT link on my side. I'm not sure what's going on but what you said makes sense. Please keep the merge_joints=False! This should be a good fix.

[zhuhaier1992]

Hi, thank you for posting the issue. So I've tested a brand new installation but I didn't noticed this problem. When I checked the model, there seems to be a FOOT link on my side. I'm not sure what's going on but what you said makes sense. Please keep the merge_joints=False! This should be a good fix.

Thank you for your reply:)