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compas-dev / compas_robots

Basic infrastructure for working with robots in COMPAS.
http://compas.dev/compas_robots/
MIT License
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RobotModel.data doesn't contain all necessary data #15

Open gonzalocasas opened 2 months ago

gonzalocasas commented 2 months ago

Migrated from https://github.com/compas-dev/compas/issues/730

Describe the bug Some data is missing from in RobotModel.data making the serialization of instances of this class faulty. In particular, if a RobotModel is loaded from a urdf that contains gazebo or other nonstandard tags, some information will be lost upon serialization followed by deserialization. This is exposed by attempting to write the reserialized RobotModel to URDF.

To Reproduce Steps to reproduce the behavior:

  1. Run the following script: 
    
import copy

from compas.files import URDF from compas.robots import RobotModel import compas_fab

filepath = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf') model = RobotModel.from_urdf_file(filepath) model_copy = RobotModel.from_data(model.data)

model_copy = copy.deepcopy(model)

urdf = URDF.from_robot(model_copy)


(Though this script imports `compas_fab`, it is only for accessing a particular URDF.  The relevant code lies in `compas`.)

**Expected behavior**
This should result in the creation of  a valid `URDF` instance, however an exception is thrown about a `URDFGenericElement` not having a tag.  This is because the protected attribute `_urdf_source` (or the inferred attribute `tag`)  is not included in `data`.
yck011522 commented 2 months ago

@gonzalocasas is this still relevant? What is the use case for compas_fab to read a URDF with "nonstandard tags"?