Update URDF parsing logic and improve R/W operations on files #100
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| ## Hack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49 | ||
| with open(model_path, "r", encoding="utf-8") as robot_file: | ||
| robot_urdf_string = ( | ||
| robot_file.read() | ||
| .replace("<?xml", "") | ||
| .replace("version='1.0'", "") | ||
| .replace("encoding='UTF-8'?>", "") | ||
| ) |
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@traversaro @CarlottaSartore did ros/urdf_parser_py#83 fix ros/urdf_parser_py#82? If yes, maybe these lines that remove the encoding can be removed.
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I think so, but no release was done, so I guess the issue is still present in the latest release, and the problem is also that the pypi package is abandoned.
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Ok I see, so probably the solution for ADAM is to just migrate to something else, at one point in the future. Thanks for the feedback!
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Yeah, I guess we need to migrate soon :/
|
Thanks a lot @flferretti! :) |
| ## Hack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49 | ||
| with open(model_path, "r", encoding="utf-8") as robot_file: | ||
| robot_urdf_string = ( | ||
| robot_file.read() | ||
| .replace("<?xml", "") | ||
| .replace("version='1.0'", "") | ||
| .replace("encoding='UTF-8'?>", "") | ||
| ) |
There was a problem hiding this comment.
Yeah, I guess we need to migrate soon :/
| ] | ||
| }, | ||
| { | ||
| "cell_type": "markdown", | ||
| "metadata": { | ||
| "id": "CZMO7PsmKUB6" |
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Just selecting a few lines, but I'm considering the whole file. I was wondering: which is the automatic formatter you used? I will put it in the dependencies ;)
I would remove this file from this PR for now (just to enhance the clarity of this PR) and maybe add it in a new PR that just formats the files!
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I'm using black[jupyter] and isort for formatting.
Formatting removed in 79f6d67 with rebase
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This PR updates the parsing logic for URDF files by bounding the check on file existence to the maximum path length allowed by the OS. Moreover, some changes were made to make the RW operations on files safer and some final linting was performed.
Closes ami-iit/comodo#21
📚 Documentation preview 📚: https://adam-docs--100.org.readthedocs.build/en/100/