Pull Request Test Coverage Report for Build 16225737099

Details

• 6 of 6 (100.0%) changed or added relevant lines in 1 file are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage increased (+0.009%) to 98.105%

Totals
Change from base Build 16225601439:	0.009%
Covered Lines:	1191
Relevant Lines:	1214

💛 - Coveralls

Thank you for starting this PR 👍 It looks like the description does not load successfully in PyBullet:

   b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
  No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frameb3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:
  ...
  ======================================================================
  ERROR: test_low_cost_robot_arm_description (test_pybullet.TestPyBullet)
  ----------------------------------------------------------------------
  Traceback (most recent call last):
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/tests/loaders/test_pybullet.py", line 54, in test
      load_robot_description(description)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pybullet/lib/python3.9/site-packages/robot_descriptions/loaders/pybullet.py", line 50, in load_robot_description
      robot = pybullet.loadURDF(module.URDF_PATH, **kwargs)
  pybullet.error: Cannot load URDF file.

Does it happen as well if you try to load it in PyBullet on your machine?

unfortunately not. Looks like it's an issue with the URDF upstream. The error I get is:

b3Printf: /Users/paul/.cache/robot_descriptions/koch_description/simulation/follower.urdf:27: cannot find 'follower/meshes/base_link.STL' in any directory in urdf path

The URDF asks for filename="package://follower/meshes/base_link.STL"

But the URDF looks like directory looks like:

.
└── simulation
    ├── follower.urdf
    └── meshes
        ├── base_link_motor.STL
        ├── base_link.STL
        ├── link_1_motor.STL
        ├── link_1.STL
        ├── link_2_motor.STL
        ├── link_2.STL
        ├── link_3_motor.STL
        ├── link_3.STL
        ├── link_4_motor.STL
        ├── link_4.STL
        ├── link_5_motor.STL
        ├── link_5.STL
        └── link_6.STL

Odd that it works with yourdfpy, but not pybullet. Not sure where to go from here

There is indeed something uncommon with the URDF description in the koch-v1-1 repository: the URDF is in a directory named simulation but it refers to package://follower instead of package://simulation. yourdfpy has a number of tricks in its bag to figure out package names without ROS packages, but PyBullet has less tricks so it doesn't resolve successfully here.

There are two ways this can be addressed:

• Either rename the directory from simulation/ to follower/ in koch-v1-1, or
• Update follower.urdf to rename package://follower/ instances to package://simulation/

Both imply updating the upstream repository though. You could open a PR there if the project is still active? (Or alternatively fork, although this is less preferred and here it would be a fork of a fork...)

I'll push a PR upstream. But I can also fork the repository and fix it there, if that's acceptable.