OSError when creating RobotModel
#21
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bug
Something isn't working
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Try to modify: with: def get_xml_string(path: str | pathlib.Path):
isPath = isinstance(path, pathlib.Path)
isUrdf = False
# Checking if it is a path or an urdf
try:
from ctypes.wintypes import MAX_PATH
except ValueError:
MAX_PATH = os.pathconf("/", "PC_PATH_MAX")
if not isPath:
if len(path) <= MAX_PATH and os.path.exists(path):
path = pathlib.Path(path)
isPath = True
else:
root = ET.fromstring(path)
for elem in root.iter():
if elem.tag == "robot":
xml_string = path
isUrdf = True
elif path.exists():
isPath = True
if not (isPath) and not (isUrdf):
raise ValueError(
f"Invalid urdf string: {path}. It is neither a path nor a urdf string"
)
if isPath:
if not (path.exists()):
raise FileExistsError(path)
path = pathlib.Path(path)
with open(path, "r") as xml_file:
xml_string = xml_file.read()
xml_file.close()
return xml_stringIf it works, I'll open a PR to |
Thanks a lot @flferretti! It worked like a charm 👌🏻 ✨ I was not able to complete the run of the notebook for some other downstream errors, but this patch fixes that exception. |
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Every notebook is failing with the same error: Error Log -- Before the Fix
---------------------------------------------------------------------------
OSError Traceback (most recent call last)
Cell In[6], line 5
3 urdf_robot_string = create_urdf_instance.write_urdf_to_file()
4 create_urdf_instance.reset_modifications()
----> 5 robot_model_init = RobotModel(urdf_robot_string, "stickBot", joint_name_list)
6 s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking()
7 robot_model_init.set_foot_corner(np.asarray([0.1, 0.05, 0.0]),np.asarray([0.1, -0.05, 0.0]),np.asarray([-0.1, -0.05, 0.0]),np.asarray([-0.1, 0.05, 0.0]))
File ~/git/comodo/src/comodo/robotModel/robotModel.py:64, in RobotModel.__init__(self, urdfstring, robot_name, joint_name_list, base_link, left_foot, right_foot, torso, right_foot_rear_link_name, right_foot_front_link_name, left_foot_rear_link_name, left_foot_front_link_name, kp_pos_control, kd_pos_control)
62 self.gravity.setVal(2, -9.81)
63 self.H_b = iDynTree.Transform()
---> 64 super().__init__(urdfstring, self.joint_name_list, self.base_link)
65 self.H_left_foot = self.forward_kinematics_fun(self.left_foot_frame)
66 self.H_right_foot = self.forward_kinematics_fun(self.right_foot_frame)
File ~/git/comodo/.pixi/envs/default/lib/python3.10/site-packages/adam/casadi/computations.py:35, in KinDynComputations.__init__(self, urdfstring, joints_name_list, root_link, gravity, f_opts)
28 """
29 Args:
30 urdfstring (str): path of the urdf
31 joints_name_list (list): list of the actuated joints
32 root_link (str, optional): the first link. Defaults to 'root_link'.
33 """
34 math = SpatialMath()
---> 35 factory = URDFModelFactory(path=urdfstring, math=math)
36 model = Model.build(factory=factory, joints_name_list=joints_name_list)
37 self.rbdalgos = RBDAlgorithms(model=model, math=math)
File ~/git/comodo/.pixi/envs/default/lib/python3.10/site-packages/adam/model/std_factories/std_model.py:37, in URDFModelFactory.__init__(self, path, math)
35 if type(path) is not pathlib.Path:
36 path = pathlib.Path(path)
---> 37 if not path.exists():
38 raise FileExistsError(path)
40 # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
41 # sensor tags are valid elements of URDF (see ),
42 # but they are ignored by urdf_parser_py, that complains every time it sees one.
(...)
45 # that anyhow are not parser by urdf_parser_py or adam
46 # See https://github.com/ami-iit/ADAM/issues/59
File ~/git/comodo/.pixi/envs/default/lib/python3.10/pathlib.py:1290, in Path.exists(self)
1286 """
1287 Whether this path exists.
1288 """
1289 try:
-> 1290 self.stat()
1291 except OSError as e:
1292 if not _ignore_error(e):
File ~/git/comodo/.pixi/envs/default/lib/python3.10/pathlib.py:1097, in Path.stat(self, follow_symlinks)
1092 def stat(self, *, follow_symlinks=True):
1093 """
1094 Return the result of the stat() system call on this path, like
1095 os.stat() does.
1096 """
-> 1097 return self._accessor.stat(self, follow_symlinks=follow_symlinks)
OSError: [Errno 36] File name too long: ' \n<robot name="stickBot">\n <link name="root_link">\n <inertial>\n
# [...]After the fix in ami-iit/adam@2f2b8d2 the error is solved. |
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I had the same problem last week on my setup when I first attempted to run code from #20, but then I postponed since there were still comodo-related problems to fix first on that PR. Thanks @flferretti for proposing the fix in ADAM. |
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I'm testing the example notebook introduced in #20 on a Ubuntu server (
Ubuntu 22.04.5 LTS) and there my notebook fails at the following line:with the following traceback:
The error seems to be coming from adam. There I'm using version
0.3.0from conda-forge.Note: I'm not getting this error on my machine (
Ubuntu 24.04.1 LTS)CC @flferretti @CarlottaSartore @Giulero
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