Visualizing New Robot

[grassjelly]

Hi Alexander,

First of all, thank you for making towr and xpp available to the public.

I've successfully added my robot in towr and visualized it in xpp using my custom visualizer (a modified version of Hyq's). Here's a screenshot after a successful optimization using towr. Although the motion plan looks good as all the ee moved as specified in the kinematic/dynamic constraints, the robot seems to be always suspended in the air.

I compared Hyq's URDF with mine and realized that the links are rotated differently.

Just wondering if I have to rotate my robot's links/joints to be the same as Hyq's for the visualizer to work or am I missing something here? Thank you in advance.

My setup is as follows:
Ubuntu 16.04 - ROS Kinetic
xpp and towr were built from source

[grassjelly]

Closing this now. Solved by reworking on the inverse kinematics library to match my links/joints’ orientation. Thank you!