For instance on this model, yourdf yields the error below.
This is probably because the scene is empty when meshes are not found. (One symptom is that self._scene.bounds_corners is empty, thus its extents and scale cannot be computed.) If that's the case yourdf could report a more explicit error to users.
$ yourdfpy ./finger_edu.urdf
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/base_back.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/base_back.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/base_front.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/base_front.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/base_side_left.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/base_side_left.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/base_top.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/base_top.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/upper_link.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/upper_link.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/middle_link.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/middle_link.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Unable to resolve filename: package://example-robot-data/robots/finger_edu_description/meshes/lower_link.stl
[2022-04-12 09:00:52] WARNING:yourdfpy.urdf:Can't find package://example-robot-data/robots/finger_edu_description/meshes/lower_link.stl
Traceback (most recent call last):
File "/home/nelson/.local/bin/yourdfpy", line 8, in <module>
sys.exit(run())
File "/home/nelson/.local/lib/python3.8/site-packages/yourdfpy/viz.py", line 106, in run
main(sys.argv[1:])
File "/home/nelson/.local/lib/python3.8/site-packages/yourdfpy/viz.py", line 98, in main
urdf_model.show(collision_geometry=args.collision)
File "/home/nelson/.local/lib/python3.8/site-packages/yourdfpy/urdf.py", line 663, in show
self._scene.show()
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/scene/scene.py", line 1105, in show
return SceneViewer(self, **kwargs)
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/viewer/windowed.py", line 107, in __init__
[0, 0, scene.scale / 1000 if self.offset_lines else 0])
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/caching.py", line 109, in get_cached
value = function(*args, **kwargs)
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/scene/scene.py", line 384, in scale
scale = (self.extents ** 2).sum() ** .5
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/caching.py", line 109, in get_cached
value = function(*args, **kwargs)
File "/home/nelson/.local/lib/python3.8/site-packages/trimesh/scene/scene.py", line 372, in extents
return np.diff(self.bounds, axis=0).reshape(-1)
File "<__array_function__ internals>", line 5, in diff
File "/home/nelson/.local/lib/python3.8/site-packages/numpy/lib/function_base.py", line 1258, in diff
raise ValueError("diff requires input that is at least one dimensional")
ValueError: diff requires input that is at least one dimensional
For instance on this model,
yourdfyields the error below.This is probably because the scene is empty when meshes are not found. (One symptom is that
self._scene.bounds_cornersis empty, thus itsextentsandscalecannot be computed.) If that's the case yourdf could report a more explicit error to users.