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ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
https://adam-docs.readthedocs.io/en/latest/
BSD 3-Clause "New" or "Revised" License
123 stars 19 forks source link

Adding the possibility to load both from string and path #74

Closed CarlottaSartore closed 2 months ago

CarlottaSartore commented 4 months ago

This PR adds the possibility to load the urdf both from string or from path. As discussed with @S-Dafarra, I decided not to declare any new method (e.g. LoadFromXMLPath,LoadFromXMLstring)but to modify the current init to ensure back-compatibility

CarlottaSartore commented 3 months ago

After discussing with @Giulero we decided to keep the keyword path with a TODO, the next PR that will break the back compatibility we will put a more meaningful name.

So the PR is now ready for review @S-Dafarra @Giulero

S-Dafarra commented 3 months ago

As a side comment, it would be good to add one test case with an urdf loaded from text

CarlottaSartore commented 2 months ago

Thanks @CarlottaSartore ! If it is not a lot of effort, is it possible to wrap this piece of code in a function?

Yes! Great idea, done in 172661816c0ee6002455da5c56f41d7206e28d11!

CarlottaSartore commented 2 months ago

The tests are failing but seems due to idyntree pip issues, see the log

Run python -m pip install --upgrade pip

Run python -m pip install --upgrade pip Requirement already satisfied: pip in /opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages (24.1) Collecting pip Downloading pip-24.1.1-py3-none-any.whl.metadata (3.6 kB) Downloading pip-24.1.1-py3-none-any.whl (1.8 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.8/1.8 MB 84.0 MB/s eta 0:00:00 Installing collected packages: pip Attempting uninstall: pip Found existing installation: pip 24.1 Uninstalling pip-24.1: Successfully uninstalled pip-24.1 Successfully installed pip-24.1.1 Processing /home/runner/work/adam/adam Installing build dependencies: started Installing build dependencies: finished with status 'done' Getting requirements to build wheel: started Getting requirements to build wheel: finished with status 'done' Preparing metadata (pyproject.toml): started Preparing metadata (pyproject.toml): finished with status 'done' Collecting numpy>=1.20 (from adam-robotics==0.1.dev1) Downloading numpy-1.24.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (5.6 kB) Collecting scipy (from adam-robotics==0.1.dev1) Downloading scipy-1.10.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (58 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 58.9/58.9 kB 9.2 MB/s eta 0:00:00 Collecting casadi (from adam-robotics==0.1.dev1) Downloading casadi-3.6.5-cp38-none-manylinux2014_x86_64.whl.metadata (2.2 kB) Collecting prettytable (from adam-robotics==0.1.dev1) Downloading prettytable-3.10.0-py3-none-any.whl.metadata (30 kB) Collecting urdf-parser-py (from adam-robotics==0.1.dev1) Downloading urdf_parser_py-0.0.4.tar.gz (12 kB) Installing build dependencies: started Installing build dependencies: finished with status 'done' Getting requirements to build wheel: started Getting requirements to build wheel: finished with status 'done' Preparing metadata (pyproject.toml): started Preparing metadata (pyproject.toml): finished with status 'done' Collecting jax (from adam-robotics==0.1.dev1) Downloading jax-0.4.13.tar.gz (1.3 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.3/1.3 MB 89.0 MB/s eta 0:00:00 Installing build dependencies: started Installing build dependencies: finished with status 'done' Getting requirements to build wheel: started Getting requirements to build wheel: finished with status 'done' Preparing metadata (pyproject.toml): started Preparing metadata (pyproject.toml): finished with status 'done' Collecting jaxlib (from adam-robotics==0.1.dev1) Downloading jaxlib-0.4.13-cp38-cp38-manylinux2014_x86_64.whl.metadata (2.1 kB) Collecting torch (from adam-robotics==0.1.dev1) Downloading torch-2.3.1-cp38-cp38-manylinux1_x86_64.whl.metadata (26 kB) Collecting pytest (from adam-robotics==0.1.dev1) Downloading pytest-8.2.2-py3-none-any.whl.metadata (7.6 kB) Collecting idyntree (from adam-robotics==0.1.dev1) Downloading idyntree-12.3.2.tar.gz (1.4 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.4/1.4 MB 17.1 MB/s eta 0:00:00 Installing build dependencies: started Installing build dependencies: finished with status 'done' Getting requirements to build wheel: started Getting requirements to build wheel: finished with status 'done' Preparing metadata (pyproject.toml): started Preparing metadata (pyproject.toml): finished with status 'done' Collecting icub-models (from adam-robotics==0.1.dev1) Downloading icub_models-2.6.0-py3-none-any.whl.metadata (10 kB) Collecting black (from adam-robotics==0.1.dev1) Downloading black-24.4.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (77 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 77.1/77.1 kB 18.1 MB/s eta 0:00:00 Collecting gitpython (from adam-robotics==0.1.dev1) Using cached GitPython-3.1.43-py3-none-any.whl.metadata (13 kB) Collecting click>=8.0.0 (from black->adam-robotics==0.1.dev1) Downloading click-8.1.7-py3-none-any.whl.metadata (3.0 kB) Collecting mypy-extensions>=0.4.3 (from black->adam-robotics==0.1.dev1) Downloading mypy_extensions-1.0.0-py3-none-any.whl.metadata (1.1 kB) Collecting packaging>=22.0 (from black->adam-robotics==0.1.dev1) Using cached packaging-24.1-py3-none-any.whl.metadata (3.2 kB) Collecting pathspec>=0.9.0 (from black->adam-robotics==0.1.dev1) Downloading pathspec-0.12.1-py3-none-any.whl.metadata (21 kB) Collecting platformdirs>=2 (from black->adam-robotics==0.1.dev1) Downloading platformdirs-4.2.2-py3-none-any.whl.metadata (11 kB) Collecting tomli>=1.1.0 (from black->adam-robotics==0.1.dev1) Using cached tomli-2.0.1-py3-none-any.whl.metadata (8.9 kB) Collecting typing-extensions>=4.0.1 (from black->adam-robotics==0.1.dev1) Using cached typing_extensions-4.12.2-py3-none-any.whl.metadata (3.0 kB) Collecting gitdb<5,>=4.0.1 (from gitpython->adam-robotics==0.1.dev1) Using cached gitdb-4.0.11-py3-none-any.whl.metadata (1.2 kB) Collecting ml-dtypes>=0.1.0 (from jax->adam-robotics==0.1.dev1) Downloading ml_dtypes-0.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata 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nvidia-nccl-cu12==2.20.5 (from torch->adam-robotics==0.1.dev1) Downloading nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_x86_64.whl.metadata (1.8 kB) Collecting nvidia-nvtx-cu12==12.1.105 (from torch->adam-robotics==0.1.dev1) Downloading nvidia_nvtx_cu12-12.1.105-py3-none-manylinux1_x86_64.whl.metadata (1.7 kB) Collecting triton==2.3.1 (from torch->adam-robotics==0.1.dev1) Downloading triton-2.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (1.4 kB) Collecting nvidia-nvjitlink-cu12 (from nvidia-cusolver-cu12==11.4.5.107->torch->adam-robotics==0.1.dev1) Downloading nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_x86_64.whl.metadata (1.5 kB) Collecting pyyaml (from urdf-parser-py->adam-robotics==0.1.dev1) Downloading PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (2.1 kB) Collecting lxml (from urdf-parser-py->adam-robotics==0.1.dev1) Downloading lxml-5.2.2-cp38-cp38-manylinux_2_28_x86_64.whl.metadata (3.4 kB) Collecting 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gitdb-4.0.11-py3-none-any.whl (62 kB) Downloading importlib_metadata-8.0.0-py3-none-any.whl (24 kB) Downloading ml_dtypes-0.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (1.0 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 1.0/1.0 MB 89.2 MB/s eta 0:00:00 Downloading mypy_extensions-1.0.0-py3-none-any.whl (4.7 kB) Using cached packaging-24.1-py3-none-any.whl (53 kB) Downloading pathspec-0.12.1-py3-none-any.whl (31 kB) Downloading platformdirs-4.2.2-py3-none-any.whl (18 kB) Downloading pluggy-1.5.0-py3-none-any.whl (20 kB) Using cached tomli-2.0.1-py3-none-any.whl (12 kB) Using cached typing_extensions-4.12.2-py3-none-any.whl (37 kB) Downloading filelock-3.15.4-py3-none-any.whl (16 kB) Downloading fsspec-2024.6.1-py3-none-any.whl (177 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 177.6/177.6 kB 46.4 MB/s eta 0:00:00 Downloading iniconfig-2.0.0-py3-none-any.whl (5.9 kB) Downloading jinja2-3.1.4-py3-none-any.whl (133 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 133.3/133.3 kB 24.1 MB/s eta 0:00:00 Downloading lxml-5.2.2-cp38-cp38-manylinux_2_28_x86_64.whl (5.1 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 5.1/5.1 MB 103.4 MB/s eta 0:00:00 Downloading networkx-3.1-py3-none-any.whl (2.1 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 2.1/2.1 MB 99.7 MB/s eta 0:00:00 Downloading opt_einsum-3.3.0-py3-none-any.whl (65 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 65.5/65.5 kB 21.4 MB/s eta 0:00:00 Downloading PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (736 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 736.6/736.6 kB 85.5 MB/s eta 0:00:00 Downloading sympy-1.12.1-py3-none-any.whl (5.7 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 5.7/5.7 MB 105.6 MB/s eta 0:00:00 Downloading wcwidth-0.2.13-py2.py3-none-any.whl (34 kB) Downloading MarkupSafe-2.1.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (26 kB) Downloading mpmath-1.3.0-py3-none-any.whl (536 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 536.2/536.2 kB 81.0 MB/s eta 0:00:00 Using cached smmap-5.0.1-py3-none-any.whl (24 kB) Downloading zipp-3.19.2-py3-none-any.whl (9.0 kB) Downloading nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_x86_64.whl (21.3 MB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 21.3/21.3 MB 86.5 MB/s eta 0:00:00 Building wheels for collected packages: adam-robotics, idyntree, jax, urdf-parser-py Building wheel for adam-robotics (pyproject.toml): started Building wheel for adam-robotics (pyproject.toml): finished with status 'done' Created wheel for adam-robotics: filename=adam_robotics-0.1.dev1-py3-none-any.whl size=55955 sha256=27918684154619f1ab7d59f358496f91cbe0191057e8c68b66af2495feb82a4e Stored in directory: /tmp/pip-ephem-wheel-cache-p3r_vyvs/wheels/76/a0/32/d0461936cce5d2be4976b56f1425e489ffac3639c206084b1e Building wheel for idyntree (pyproject.toml): started Building wheel for idyntree (pyproject.toml): finished with status 'error' error: subprocess-exited-with-error × Building wheel for idyntree (pyproject.toml) did not run successfully. │ exit code: 1 ╰─> [90 lines of output] running bdist_wheel running build running build_ext -- The C compiler identification is GNU 11.4.0 -- The CXX compiler identification is GNU 11.4.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done CMake Error at cmake/iDynTreeDependencies.cmake:62 (find_package): Could not find a package configuration file provided by "Eigen3" (requested version 3.2.92) with any of the following names: Eigen3Config.cmake eigen3-config.cmake Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set "Eigen3_DIR" to a directory containing one of the above files. If "Eigen3" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:34 (include) -- Configuring incomplete, errors occurred! ==> Configuring: $ cmake -S /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea -B /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall -G Ninja -DCMAKE_MAKE_PROGRAM=/tmp/pip-build-env-86ubuphk/overlay/bin/ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX:PATH=/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/lib.linux-x86_64-cpython-38/idyntree -DBUILD_SHARED_LIBS:BOOL=OFF -DIDYNTREE_USES_PYTHON:BOOL=ON -DBUILD_TESTING:BOOL=OFF -DIDYNTREE_PACKAGE_FOR_PYPI:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=OFF -DIDYNTREE_USES_ASSIMP:BOOL=OFF -DIDYNTREE_USES_IRRLICHT:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF -DIDYNTREE_USES_ALGLIB:BOOL=OFF -DIDYNTREE_USES_WORHP:BOOL=OFF -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_PYTHON_PIP_METADATA_INSTALL:BOOL=OFF ==> Building: $ cmake --build /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall --config Release ==> Installing: $ cmake --install /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall --config Release Traceback (most recent call last): File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 353, in main() File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 335, in main json_out['return_val'] = hook(**hook_input['kwargs']) File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 251, in build_wheel return _build_backend().build_wheel(wheel_directory, config_settings, File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 415, in build_wheel return self._build_with_temp_dir( File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 397, in _build_with_temp_dir self.run_setup() File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 313, in run_setup exec(code, locals()) File "", line 11, in File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/__init__.py", line 103, in setup return distutils.core.setup(**attrs) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 184, in setup return run_commands(dist) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 200, in run_commands dist.run_commands() File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 970, in run_commands self.run_command(cmd) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command super().run_command(command) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command cmd_obj.run() File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/command/bdist_wheel.py", line 373, in run self.run_command("build") File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command self.distribution.run_command(command) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command super().run_command(command) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command cmd_obj.run() File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/command/build.py", line 135, in run self.run_command(cmd_name) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command self.distribution.run_command(command) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command super().run_command(command) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command cmd_obj.run() File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/cmake_build_extension/build_extension.py", line 114, in run self.build_extension(ext) File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/cmake_build_extension/build_extension.py", line 241, in build_extension subprocess.check_call(configure_command) File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/subprocess.py", line 364, in check_call raise CalledProcessError(retcode, cmd) subprocess.CalledProcessError: Command '['cmake', '-S', '/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea', '-B', '/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall', '-G', 'Ninja', '-DCMAKE_MAKE_PROGRAM=/tmp/pip-build-env-86ubuphk/overlay/bin/ninja', '-DCMAKE_BUILD_TYPE=Release', '-DCMAKE_INSTALL_PREFIX:PATH=/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/lib.linux-x86_64-cpython-38/idyntree', '-DBUILD_SHARED_LIBS:BOOL=OFF', '-DIDYNTREE_USES_PYTHON:BOOL=ON', '-DBUILD_TESTING:BOOL=OFF', '-DIDYNTREE_PACKAGE_FOR_PYPI:BOOL=ON', '-DIDYNTREE_USES_IPOPT:BOOL=OFF', '-DIDYNTREE_USES_ASSIMP:BOOL=OFF', '-DIDYNTREE_USES_IRRLICHT:BOOL=OFF', '-DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF', '-DIDYNTREE_USES_ALGLIB:BOOL=OFF', '-DIDYNTREE_USES_WORHP:BOOL=OFF', '-DIDYNTREE_USES_YARP:BOOL=OFF', '-DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF', '-DIDYNTREE_PYTHON_PIP_METADATA_INSTALL:BOOL=OFF']' returned non-zero exit status 1. [end of output] note: This error originates from a subprocess, and is likely not a problem with pip. ERROR: Failed building wheel for idyntree Building wheel for jax (pyproject.toml): started Building wheel for jax (pyproject.toml): finished with status 'done' Created wheel for jax: filename=jax-0.4.13-py3-none-any.whl size=1518705 sha256=c7a3a567ab53c15d7b550cb9d166b2f2c735007359dc53c43a86c4a14d4bc6f4 Stored in directory: /home/runner/.cache/pip/wheels/46/d9/15/d2800d4089dc4c77299ac7513c6aa1036f5491edbd2bf6ba16 Building wheel for urdf-parser-py (pyproject.toml): started Building wheel for urdf-parser-py (pyproject.toml): finished with status 'done' Created wheel for urdf-parser-py: filename=urdf_parser_py-0.0.4-py3-none-any.whl size=14542 sha256=a1dd9024f44bed1240ac8777411c276c4624efd0b87b66ded08edeb24c1386d8 Stored in directory: /home/runner/.cache/pip/wheels/f5/29/21/51db27425657863937ea10cd93fcf1e6c7d7b59902c2e3259f Successfully built adam-robotics jax urdf-parser-py Failed to build idyntree ERROR: ERROR: Failed to build installable wheels for some pyproject.toml based projects (idyntree) ```

Giulero commented 2 months ago

Thanks @CarlottaSartore ! Yup, the tests are failing since the action is not updated (PR #88). Good to me!