Alex

> Hmmm, no idea? Can you share the scene? I created a new scene then used `ZeroSim -> Import URDF` https://github.com/alex-ssom/zerosim_import_leorover_urdf.git I noticed that the hierarchy tree is different than...

Wow! I didn't expect an answer so complete, I'll try it by the end of the week and I'll let you know how it went :smiley:

### Testing the provided instructions The provided instructions worked like a charm except for step 7 and 8. Step 7: ```bash # create a directory and a sub-directory to store...

No problem, that's what open source is for! We appreciate that you released ZeroSim to the public. I have experience with ROS and linux, but at the moment I have...

For anyone whom might be interested. At the moment, the `Import URDF` script doesn't handle the `link_origin_rpy` variable. I've had to manually rewrite my xacro files with every `link_origin_rpy` set...

I agree with you, the documentation of this variable is very sparse. It's mentionned in the [link documentation](https://wiki.ros.org/urdf/XML/link) and in the [Building a Visual Robot Model with URDF from Scratch](http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch#CA-7a98bf230e397bebd5c9a0ac75388002cbaa6457_28)...

Sorry for the data dump and the confusion, I'm so used to my tools that I forgot to mention that `link_origin_rpy` is a xacro macro to define the link origin...

Thanks for you patience as well, I'm quite fluent, but English isn't my first language so there might be some stuff that's lost in translation. FYI: xacro is just an...

You can get the same result by manually adjusting the turtlebot definition. In lidar-2d Transform, set Rotation to `X=180, Y=180, Z=0`  **Result**: 

You can get the same result by manually adjusting the turtlebot definition by doing the following: In lidar-2d Transform, set Rotation to `X=180, Y=180, Z=0`  **Result**: