search

loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
846 stars 173 forks source link

ValueError: Mesh package://example-robot-data/robots/ ... #776

Closed syundo0730 closed 4 years ago

syundo0730 commented 4 years ago

Hello. Error raises when I run the command bellow. Actually I couldn't launch any models.

ksyundo@ksyundo-MacBookPro:~$ python3 -m crocoddyl.examples.quadrupedal_gaits "display" "plot"

Traceback (most recent call last):
  File "/usr/lib/python3.5/runpy.py", line 184, in _run_module_as_main
    "__main__", mod_spec)
  File "/usr/lib/python3.5/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/opt/openrobots/lib/python3.5/site-packages/crocoddyl/examples/quadrupedal_gaits.py", line 17, in <module>
    anymal = example_robot_data.loadANYmal()
  File "/opt/openrobots/lib/python3.5/site-packages/example_robot_data/robots_loader.py", line 66, in loadANYmal
    robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
  File "/opt/openrobots/lib/python3.5/site-packages/pinocchio/robot_wrapper.py", line 17, in BuildFromURDF
    robot.initFromURDF(filename, package_dirs, root_joint, verbose, meshLoader)
  File "/opt/openrobots/lib/python3.5/site-packages/pinocchio/robot_wrapper.py", line 21, in initFromURDF
    model, collision_model, visual_model = buildModelsFromUrdf(filename, package_dirs, root_joint, verbose, meshLoader)
  File "/opt/openrobots/lib/python3.5/site-packages/pinocchio/shortcuts.py", line 46, in buildModelsFromUrdf
    geom_model = pin.buildGeomFromUrdf(model, filename, geometry_type, package_dirs)
ValueError: Mesh package://example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae could not be found.

Model files exists

ksyundo@ksyundo-MacBookPro:~$ ls /opt/openrobots/share/example-robot-data/robots
anymal_b_simple_description  hyq_description   kinova_description  talos_data
double_pendulum_description  icub_description  romeo_description   tiago_description
hector_description           iris_description  solo_description    ur_description

I'm using Ubuntu xenial and python 3.5.2

ksyundo@ksyundo-MacBookPro:~$ lsb_release -c
Codename:   xenial
ksyundo@ksyundo-MacBookPro:~$ python3 --version
Python 3.5.2

How can I fix the file path error?

cmastalli commented 4 years ago

You need to define the ROS_PACKAGE_PATH. For a more detailed instruction, see the README file of the example-robot-data repository.

syundo0730 commented 4 years ago

it worked. Thank you!

amirrazmjoo commented 3 years ago

@syundo0730 How did you fix it? I have the same problem

syundo0730 commented 3 years ago

@amirrezarazmjoo I did what cmastalli told https://github.com/loco-3d/crocoddyl/issues/776#issuecomment-629758146

hjw-1014 commented 3 years ago

it worked. Thank you!

Hi,@syundo0730, can you tell me how did you define the ROS_PACKAGE_PATH? I don't find guidance in example-robot-data... Thank you very much.

cmastalli commented 3 years ago

Hi,@syundo0730, can you tell me how did you define the ROS_PACKAGE_PATH? I don't find guidance in example-robot-data... Thank you very much.

You need to include the folder where the mesh files are installed, i.e.

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$INSTALLATION_PATH/share

where $INSTALLATION_PATH is /opt/openrobots/ if you've installed the binaries with robotpkg.

hjw-1014 commented 3 years ago

@cmastalli Hi, thank you for your reply. I add this into ~/.bashrc and resource it. And then I rangepetto-gui, and tried to load robot like this official video, but there is no robot I can choose. What did I miss?

cmastalli commented 3 years ago

@cmastalli Hi, thank you for your reply. I add this into ~/.bashrc and resource it. And then I rangepetto-gui, and tried to load robot like this official video, but there is no robot I can choose. What did I miss?

I am not aware of how to do it. Perhaps @nim65s (or @jmirabel) knows the answer.

jmirabel commented 3 years ago

The button is still here but the functionality should not be used. It was meant to be used by plugins. It hasn't been updated when switching to plugins.

Loading a robot shall be done using the python interface. If you want to add buttons to the GUI, check the python python interface.