Creating chain from URDF

Hi, I am trying to create a chain from URDF file of Baxter and is facing following error. I can’t figure out why? What is wrong in this declaration? Any help please

my_chain = ikpy.chain.Chain.from_urdf_file("../baxter_common/baxter_description/urdf/baxter.urdf",
    base_elements=["right_upper_shoulder", "right_lower_shoulder", "right_upper_elbow", "right_lower_elbow", 
                   "right_upper_forearm", "right_lower_forearm", "right_wrist", "right_hand"], 
    last_link_vector=[0.0, 0.0, 0.025], 
    active_links_mask=[False, True, True, True, True, True, True,True])

I am using this file: Baxter URDF

And get this error!!!

raise ValueError("Your active links mask length of {} is different from the number of your links, which is {}".format(len(active_links_mask), len(self.links)))
ValueError: Your active links mask length of 8 is different from the number of your links, which is 2

[Rogerpi]

Check https://github.com/Phylliade/ikpy/blob/master/src/ikpy/chain.py , from_urdf_file function

Maybe the issue is that you have a diferent base link name. I used a urdf file generated from a xacro file and I had the same trouble. Change it in the arguments:

my_chain = ikpy.chain.Chain.from_urdf_file(“./src/moveo/urdf/moveo.urdf”,base_elements=[“base”])

“./src/moveo/urdf/moveo.urdf” is my urdf file “base” the base link name on the urdf file

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