Problems in loading stickbot with urdf parser py #49
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I saw that even forcing the version of urdf parser py does not change the outcome, see https://github.com/CarlottaSartore/ADAM/actions/runs/6783418213. And the version is equal if the package is downloaded with |
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C.C. @traversaro @Nicogene |
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In my computer I have installed |
Looking to the output here, the only error I see a lot of: I can't find the error that you mentioned in the original post. |
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I am able to replicate the error, the difference as @traversaro said is in using |
Sorry, wrong CI, I was talking about this https://github.com/CarlottaSartore/ADAM/actions/runs/6783316462/job/18437290808#step:7:964 |
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I was able to replicate the problem just with urdfdom-py: fails with: mamba list: |
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I think it is a problem in urdf_parser_py and/or adam, but anyhow just removing |
I opened the issue upstream in ros/urdf_parser_py#82, while I guess to solve the issue in our models we can just get rid of |
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Yes I think also that removing should be enough (also because generally in icub-models we do not have it), the only problem is that this entry is automatically generated when saving the urdf file e.g.Am I right ? @Nicogene |
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Argh, so this is a urdfpy/urchin (see https://github.com/fishbotics/urchin/blob/5a8068a9c6f4c0d43a57d6bdb4c9be52d9fd0549/urchin/urdf.py#L3714) + urdf_parser_py combined bug, great. |
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Probably a quick fix on our side (i.e. |
I have not memory of this, I know that the stickbot has been created by hand by @AlexAntn and @GrmanRodriguez, but I don't know |
No, the encoding is happening inside the urdfpy/urchin at the line https://github.com/fishbotics/urchin/blob/5a8068a9c6f4c0d43a57d6bdb4c9be52d9fd0549/urchin/urdf.py#L3714 . Another possible option is that adam removes the encoding line (or directly all the xml declaration line). That probably make also more sense as the bugged library (urdf_parser_py) is used on the adam side, so it make sense that the workaround is on that side. |
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Done in CarlottaSartore/ADAM@5bec824, now the CI passes. What do we want to do with this issue then? |
I think we can close it. An XML file that starts with |
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Closing this issue then! Thanks everybody ! |
I am having issues in loading the stickbot urdf in urdf parser py, due to the declaration of XML encoding
ergocub-gazebo-simulations/models/stickBot/model.urdf
Line 1 in 1179630
see attached log:
Errort
___ ERROR collecting tests/parametric/test_NumPy_computations_parametric.py ____ ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/runner.py:341: in from_call result: Optional[TResult] = func() ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/runner.py:372: in call = CallInfo.from_call(lambda: list(collector.collect()), "collect") ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/python.py:531: in collect self._inject_setup_module_fixture() ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/python.py:545: in _inject_setup_module_fixture self.obj, ("setUpModule", "setup_module") ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/python.py:310: in obj self._obj = obj = self._getobj() ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/python.py:528: in _getobj return self._importtestmodule() ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/python.py:617: in _importtestmodule mod = import_path(self.path, mode=importmode, root=self.config.rootpath) ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/pathlib.py:567: in import_path importlib.import_module(module_name) ../../../micromamba/envs/adamdev/lib/python3.11/importlib/__init__.py:126: in import_module return _bootstrap._gcd_import(name[level:], package, level) :1204: in _gcd_import ??? :1176: in _find_and_load ??? :1147: in _find_and_load_unlocked ??? :690: in _load_unlocked ??? ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/_pytest/assertion/rewrite.py:186: in exec_module exec(co, module.__dict__) tests/parametric/test_NumPy_computations_parametric.py:63: in comp = KinDynComputations(model_path, joints_name_list, root_link) ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/adam/numpy/computations.py:32: in __init__ factory = URDFModelFactory(path=urdfstring, math=math) ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/adam/model/std_factories/std_model.py:24: in __init__ self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_file(path) ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/urdf_parser_py/xml_reflection/core.py:617: in from_xml_file return cls.from_xml_string(xml_string) ../../../micromamba/envs/adamdev/lib/python3.11/site-packages/urdf_parser_py/xml_reflection/core.py:610: in from_xml_string node = etree.fromstring(xml_string) src/lxml/etree.pyx:3257: in lxml.etree.fromstring ??? src/lxml/parser.pxi:1911: in lxml.etree._parseMemoryDocument ???
This is an output of a CI (see https://github.com/CarlottaSartore/ADAM/actions/runs/6783258175), In my setup it does not happen, I attach here the
conda listWorking Env Conda List
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