ValueError: Error: link base_link given but not found in the URDF

[tekntrash]

No matter what URDF file we use the result is always the error ValueError: Error: link base_link given but not found in the URDF

[dariooo512]

if your urdf model does not contain any link with name base_link you will need to specify the base of the chain using base_elements. See Docs

Sample:

ikpy.chain.Chain.from_urdf_file("dofbot.urdf") # has base_link 
ikpy.chain.Chain.from_urdf_file("g1_right_arm.urdf", base_elements=['right_shoulder_pitch_link']) # does not have base link

I think the error can be improved by explaining this