python modules missed?

[AndreV84]

$ ./onshape-to-robot.py robots/myrobot
Traceback (most recent call last):
  File "./onshape-to-robot.py", line 4, in <module>
    from robot_description import RobotURDF, RobotSDF
  File "/home/nvidia/onshape-to-robot/robot_description.py", line 5, in <module>
    import stl_combine
  File "/home/nvidia/onshape-to-robot/stl_combine.py", line 5, in <module>
    import stl
  File "/home/nvidia/.local/lib/python2.7/site-packages/stl/__init__.py", line 2, in <module>
    import stl.ascii

ImportError: No module named ascii

$ python3 -m onshape-to-robot.py robots/myrobot

Traceback (most recent call last):
  File "/usr/lib/python3.6/runpy.py", line 183, in _run_module_as_main
    mod_name, mod_spec, code = _get_module_details(mod_name, _Error)
  File "/usr/lib/python3.6/runpy.py", line 109, in _get_module_details
    __import__(pkg_name)
  File "/home/nvidia/onshape-to-robot/onshape-to-robot.py", line 4, in <module>
    from robot_description import RobotURDF, RobotSDF
  File "/home/nvidia/onshape-to-robot/robot_description.py", line 5, in <module>
    import stl_combine
  File "/home/nvidia/onshape-to-robot/stl_combine.py", line 7, in <module>
    from stl import mesh
  File "/home/nvidia/.local/lib/python3.6/site-packages/stl/mesh.py", line 4, in <module>
    class Mesh(stl.BaseStl):
AttributeError: module 'stl' has no attribute 'BaseStl'
``

[Gregwar]

Did you install the following?

pip install numpy-stl

Also, maybe you have conflict with other library called stl?

[AndreV84]

pip uninstall stl changed the situation to the illustrated below:

python3 -m onshape-to-robot.py robots/myrobot
Traceback (most recent call last):
  File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 168, in loads
    parsed = parser.parse(text)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/lark.py", line 311, in parse
    return self.parser.parse(text, start=start)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parser_frontends.py", line 185, in parse
    return self._parse(text, start)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parser_frontends.py", line 54, in _parse
    return self.parser.parse(input, start, *args)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/earley.py", line 292, in parse
    to_scan = self._parse(stream, columns, to_scan, start_symbol)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/xearley.py", line 137, in _parse
    to_scan = scan(i, to_scan)
  File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/xearley.py", line 114, in scan
    raise UnexpectedCharacters(stream, i, text_line, text_column, {item.expect.name for item in to_scan}, set(to_scan))
lark.exceptions.UnexpectedCharacters: No terminal defined for '"' at line 10 col 5

    "jointMaxEffort": 1.5,
    ^

Expecting: {'RBRACE', 'COMMA'}

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 203, in load
    return loads(fp.read(), **kwargs)
  File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 171, in loads
    raise ValueError('Unable to parse text', text)
ValueError: ('Unable to parse text', '{\n    "documentId": "id-here",\n    "assemblyName": "robot",\n    "outputFormat": "urdf",\n    "drawFrames": false,\n    "drawCollisions": false,\n    "useScads": true,\n\n    "packageName": "robov2"\n    "jointMaxEffort": 1.5,\n    "jointMaxVelocity": 22\n}\n')

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3.6/runpy.py", line 183, in _run_module_as_main
    mod_name, mod_spec, code = _get_module_details(mod_name, _Error)
  File "/usr/lib/python3.6/runpy.py", line 109, in _get_module_details
    __import__(pkg_name)
  File "/home/nvidia/onshape-to-robot/onshape-to-robot.py", line 12, in <module>
    from load_robot import \
  File "/home/nvidia/onshape-to-robot/load_robot.py", line 3, in <module>
    from config import config, configFile
  File "/home/nvidia/onshape-to-robot/config.py", line 27, in <module>
    config = json.load(open(configFile))
  File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 205, in load
    raise JSONLibraryException(e)
commentjson.commentjson.JSONLibraryException: JSON Library Exception

Exception thrown by library (json): ('Unable to parse text', '{\n    "documentId": "changed",\n    "assemblyName": "robot",\n    "outputFormat": "urdf",\n    "drawFrames": false,\n    "drawCollisions": false,\n    "useScads": true,\n\n    "packageName": "robov2"\n    "jointMaxEffort": 1.5,\n    "jointMaxVelocity": 22\n}\n')

    Traceback (most recent call last):
      File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 168, in loads
        parsed = parser.parse(text)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/lark.py", line 311, in parse
        return self.parser.parse(text, start=start)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parser_frontends.py", line 185, in parse
        return self._parse(text, start)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parser_frontends.py", line 54, in _parse
        return self.parser.parse(input, start, *args)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/earley.py", line 292, in parse
        to_scan = self._parse(stream, columns, to_scan, start_symbol)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/xearley.py", line 137, in _parse
        to_scan = scan(i, to_scan)
      File "/home/nvidia/.local/lib/python3.6/site-packages/lark/parsers/xearley.py", line 114, in scan
        raise UnexpectedCharacters(stream, i, text_line, text_column, {item.expect.name for item in to_scan}, set(to_scan))
    lark.exceptions.UnexpectedCharacters: No terminal defined for '"' at line 10 col 5

        "jointMaxEffort": 1.5,
        ^

    Expecting: {'RBRACE', 'COMMA'}

    During handling of the above exception, another exception occurred:

    Traceback (most recent call last):
      File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 203, in load
        return loads(fp.read(), **kwargs)
      File "/home/nvidia/.local/lib/python3.6/site-packages/commentjson/commentjson.py", line 171, in loads
        raise ValueError('Unable to parse text', text)
    ValueError: ('Unable to parse text', '{\n    "documentId": "documentidherechanged",\n    "assemblyName": "robot",\n    "outputFormat": "urdf",\n    "drawFrames": false,\n    "drawCollisions": false,\n    "useScads": true,\n\n    "packageName": "robov2"\n    "jointMaxEffort": 1.5,\n    "jointMaxVelocity": 22\n}\n')

[Gregwar]

Can you show your config.json?

[Gregwar]

(Looks like you forgot a comma , the line just above)

[AndreV84]

{
    "documentId": "document-id-here",
    "assemblyName": "robot",
    "outputFormat": "urdf",
    "drawFrames": false,
    "drawCollisions": false,
    "useScads": true,

    "packageName": "name-here"
    "jointMaxEffort": 1.5,
    "jointMaxVelocity": 22
}

[AndreV84]

added comma; situation changed:

$ python3 -m onshape-to-robot.py robots/myrobot
* Checking OpenSCAD presence...
Can't run openscad -v, disabling OpenSCAD support
TIP: consider installing openscad:
sudo add-apt-repository ppa:openscad/releases
sudo apt-get update
sudo apt-get install openscad

* Retrieving workspace ID ...
+ Using workspace id: alphanumeric-value-here

* Retrieving elements in the document, searching for the assembly...
ERROR: Unable to find assembly in this document

[AndreV84]

what is the assembly that it can not find?

[Gregwar]

The tool is searching for you robot assembly in your part studio file

It can be specified by config.json under assemblyName or you can remove this argument and the first assembly will be used

[Gregwar]

(Since you can have as much parts or assemblies as you want in the same PartStudio document, you need to name the one that actually represents your robot)

[AndreV84]

removed the assembly part of the config.json * Retrieving assembly ! ERROR (403) while using OnShape API ! { "moreInfoUrl" : "", "message" : "Ressource nicht vorhanden oder Sie haben keine Zugriffsberechtigung.", "status" : 403, "code" : 0 }

[Gregwar]

Did you do that? https://github.com/Rhoban/onshape-to-robot#setting-up-your-api-key

[AndreV84]

python3 -m onshape-to-robot.py robots/myrobot
* Checking OpenSCAD presence...
Can't run openscad -v, disabling OpenSCAD support
TIP: consider installing openscad:
sudo add-apt-repository ppa:openscad/releases
sudo apt-get update
sudo apt-get install openscad

* Retrieving workspace ID ...
+ Using workspace id: alphanumeric

* Retrieving elements in the document, searching for the assembly...
+ Found assembly, id: alphanumeric, name: "PRT_02_20_AL_1"
+ Found assembly, id: alphanumeric, name: "16T"
+ Found assembly, id: alphanumeric, name: "Assembly 1"

* Retrieving assembly
! ERROR (403) while using OnShape API
! {
  "moreInfoUrl" : "",
  "message" : "Ressource nicht vorhanden oder Sie haben keine Zugriffsberechtigung.",
  "status" : 403,
  "code" : 0
}

[AndreV84]

I just sourced the bashrc the situation changed:

* Retrieving assembly
! ERROR (403) while using OnShape API
! {
  "moreInfoUrl" : "",
  "code" : 0,
  "message" : "Resource does not exist, or you do not have permission to access it.",
  "status" : 403
}

[Gregwar]

Check out that this displays your keys:

echo $ONSHAPE_ACCESS_KEY
echo $ONSHAPE_SECRET_KEY

(of course, don't paste the result here) If it doesn't work, check out this part of README: https://github.com/Rhoban/onshape-to-robot#setting-up-your-api-key

[AndreV84]

yes, they are in bashrc and they will echo

[Gregwar]

What assembly represents your robot that you try to export to URDF/SDF model?

[Gregwar]

If it is Assembly 1, you should add thje following to your config.json:

"assemblyName": "Assembly 1",

(Consider renaming it to something relevant for you)

[AndreV84]

it is Assembly 1; when I specified it it will throw permission issue; do I have any other but viewer permission to do the conversion? Thanks

name: "Assembly 1"

* Retrieving assembly
! ERROR (403) while using OnShape API
! {
  "moreInfoUrl" : "",
  "message" : "Ressource nicht vorhanden oder Sie haben keine Zugriffsberechtigung.",
  "status" : 403,
  "code" : 0
}

[AndreV84]

it first says that it found the assembly, but then will throw 403

[Gregwar]

Yes, you mean you didn't ticked all the boxes in the dev portal? I think you need more permissions than viewer indeed

[Gregwar]

Assembly is found by API key but its contents can't be retrieved, means that you have some permissions but some others are missing I guess

[AndreV84]

I have a viewer url from other guy; it seems that I might need to clone the project or get other sort of elevation to continue

[Gregwar]

I guess so, it would be interresting to investigate about wether it is possible to get enough informations with viewer accounts (since I guess everything is actually there readable in the document)

[Gregwar]

Maybe it is because of the workspace, can you try setting the versionId ? EDIT: in view-only I don't feel like I can retrieve versions

[AndreV84]

it got processing with elevating of access level; thank you for guidelines

[Gregwar]

Good, hope everything will work for you

[AndreV84]

it worked for a while then has thrown:

* Writing URDF file
/usr/bin/python3: Error while finding module specification for 'onshape-to-robot.py' (AttributeError: module 'onshape-to-robot' has no attribute '__path__')

[AndreV84]

without -m flag it has written the output file

[AndreV84]

./bullet.py robots/myrobot
pybullet build time: Apr 16 2020 20:52:31
startThreads creating 1 threads.
starting thread 0
started thread 0 
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=NVIDIA Corporation
GL_RENDERER=NVIDIA Tegra Xavier (nvgpu)/integrated
GL_VERSION=3.3.0 NVIDIA 32.3.1
GL_SHADING_LANGUAGE_VERSION=3.30 NVIDIA via Cg compiler
pthread_getconcurrency()=0
Version = 3.3.0 NVIDIA 32.3.1
Vendor = NVIDIA Corporation
Renderer = NVIDIA Tegra Xavier (nvgpu)/integrated
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
ven = NVIDIA Corporation
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h,112]:

b3Printf: robots/myrobot/robot.urdf:6: cannot find 'robov2dummy_dc13_idle.stl' in any directory in urdf path

Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: Could not parse visual element for Link:
Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: 51mmslew_1
Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: failed to parse link
Traceback (most recent call last):
  File "./bullet.py", line 11, in <module>
    sim = Simulation(directory)
  File "/home/nvidia/onshape-to-robot/simulation.py", line 24, in __init__
    cubeStartPos, cubeStartOrientation)
pybullet.error: Cannot load URDF file.
ven = NVIDIA Corporation
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed

[AndreV84]

does it error because openscad is not installed?

[AndreV84]

should it work if I use "outputFormat": "sdf" in config.json? Traceback (most recent call last): File "onshape-to-robot.py", line 185, in <module> buildRobot(tree, np.matrix(np.identity(4))) File "onshape-to-robot.py", line 143, in buildRobot addPart(occurrence, matrix) File "onshape-to-robot.py", line 99, in addPart robot.addPart(pose, config['outputDirectory']+'/'+stlFile, mass, com, inertia, color, shapes, prefix) File "/home/nvidia/onshape-to-robot/robot_description.py", line 376, in addPart if linkName is not None: NameError: name 'linkName' is not defined

[Gregwar]

This issue is a bug (I'm looking)

However I don't understand why your robot doesn't load in pyBullet, can you share a zip of the output somehow?

[Gregwar]

Looks like the stl file robov2dummy_dc13_idle.stl can't be found OpenScad is not required if you don't want to do pure shape approximation

[Gregwar]

Are STL files outputed in your target directory?

[AndreV84]

it seems that the package name hasn't got appended to the beginning of the fines; either I can ```cp dummy_dc13_idle.stl robov2dummy_dc13_idle.stl

or rebuild them after deleting package name from config.json
`/onshape-to-robot/robots/myrobot$ ls
51mmslew.stl               arm2_horizontal_plate.stl  arm4.stl        base.stl             part_12.stl  part_5.stl
615238.stl                 arm2.stl                   base_gear.stl   bottom_hand.stl      part_1.stl   part_6.stl
615262.stl                 arm3_horizontal_plate.stl  basejoint.stl   config.json          part_26.stl  part_8.stl
adapter.stl                arm3.stl                   base_plate.stl  dummy_dc13_idle.stl  part_2.stl   robot.urdf
arm2_conencting_plate.stl  arm4_horizontal_palte.stl  base_side.stl   first_arm.stl        part_32.stl  zaxis_gear.stl`

[Gregwar]

Do you mean the stl name in your urdf is not consistent with the one on the disk? Can you paste the <visual> tag from your URDF?

[AndreV84]

visual>
<origin xyz="0.0231264 0.1161 0.346124" rpy="1.5708 1.5708 0" />
<geometry>
<mesh filename="package://adapter.stl"/>
</geometry>
<material name="adapter_material">
<color rgba="0.615686 0.811765 0.929412 1.0"/>
</material>
</visual>

there are many these tags

[Gregwar]

There is one reffering to robov2dummy_dc13_idle.stl ?

[Gregwar]

Did you defined a packageName? Try removing it

[AndreV84]

there is first atempt with package name https://drive.google.com/file/d/17QHbW27pAZSvhWDUQuaFlH_QvjKllRYo/view?usp=sharing there is second attempt without it https://drive.google.com/file/d/1yHaslvO2Oc23JnlTvlbRw3EPKvRGMNww/view?usp=sharing

[AndreV84]

if you request sharing through the URL I can share the resulting zip file

[AndreV84]

bullet py will run, but empty

[Gregwar]

if you request sharing through the URL I can share the resulting zip file

Ok I requested access

[AndreV84]

export to sdf won't work shared

[Gregwar]

Actually it is there, you can see it in wireframe (pressing w in pyBullet) But visuals are not showing up, I'm checking why There is no joints as well (so it's like one big rigid body)

[AndreV84]

très bien merci beaucoup

[Gregwar]

Ok looks like some pyBullet related issue (too much visual tags I guess) Can you install meshlab and add:

"mergeSTLs": true

In your json?

[Gregwar]

Also, there is no DOFs in this robot (check the README file for information on how you can add DOFs in your assembly)

[Gregwar]

Add both:

"simplifySTLs": true,
"mergeSTLs": true

This will result in only one visual link containing one combined more lightweight STL

[AndreV84]

installed meshlab, added both mergeSTL simplifySTL

Adding part arm4 <1>
Traceback (most recent call last):
  File "onshape-to-robot.py", line 185, in <module>
    buildRobot(tree, np.matrix(np.identity(4)))
  File "onshape-to-robot.py", line 144, in buildRobot
    robot.endLink()
  File "/home/nvidia/onshape-to-robot/robot_description.py", line 190, in endLink
    stl_combine.save_mesh(self._mesh, self._mesh_dir+'/'+self._link_name+'.stl')
  File "/home/nvidia/onshape-to-robot/stl_combine.py", line 14, in save_mesh
    mesh.save(stl_file, mode=stl.Mode.BINARY)
AttributeError: module 'stl' has no attribute 'Mode'