Merge pull request #74 from ami-iit/loading_from_string

Adding the possibility to load both from xml string and path

src/adam/casadi/computations.py

@@ -27,7 +27,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """

src/adam/jax/computations.py

@@ -23,7 +23,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """

src/adam/model/std_factories/std_model.py

@@ -1,7 +1,7 @@
 import pathlib
 from typing import List
 import xml.etree.ElementTree as ET
-
+import os
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
@@ -23,19 +23,50 @@ def urdf_remove_sensors_tags(xml_string):
     return modified_xml_string
 
 
+def get_xml_string(path: str):
+    isPath = False
+    isUrdf = False
+    # Checking if it is a path or an urdf
+    if type(path) is not (pathlib.Path):
+        if os.path.exists(path):
+            path = pathlib.Path(path)
+            isPath = True
+        else:
+            root = ET.fromstring(path)
+            robot_el = None
+            for elem in root.iter():
+                if elem.tag == "robot":
+                    xml_string = path
+                    isUrdf = True
+    elif path.exists():
+        isPath = True
+
+    if not (isPath) and not (isUrdf):
+        raise ValueError(
+            f"Invalid urdf string: {path}. It is neither a path nor a urdf string"
+        )
+
+    if isPath:
+        if not (path.exists()):
+            raise FileExistsError(path)
+        path = pathlib.Path(path)
+        with open(path, "r") as xml_file:
+            xml_string = xml_file.read()
+            xml_file.close()
+    return xml_string
+
+
 class URDFModelFactory(ModelFactory):
     """This factory generates robot elements from urdf_parser_py
 
     Args:
         ModelFactory: the Model factory
     """
 
+    # TODO: path can be either a path and an urdf-string, leaving path for back compatibility, to be changed to meaningfull name
     def __init__(self, path: str, math: SpatialMath):
         self.math = math
-        if type(path) is not pathlib.Path:
-            path = pathlib.Path(path)
-        if not path.exists():
-            raise FileExistsError(path)
+        xml_string = get_xml_string(path)
 
         # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
         # sensor tags are valid elements of URDF (see ),
@@ -44,8 +75,7 @@ def __init__(self, path: str, math: SpatialMath):
         # to have a useless and noisy warning, let's remove before hands all the sensor elements,
         # that anyhow are not parser by urdf_parser_py or adam
         # See https://github.com/ami-iit/ADAM/issues/59
-        with open(path, "r") as xml_file:
-            xml_string = xml_file.read()
+
         xml_string_without_sensors_tags = urdf_remove_sensors_tags(xml_string)
         self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_string(
             xml_string_without_sensors_tags

src/adam/numpy/computations.py

@@ -22,7 +22,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """

src/adam/parametric/casadi/computations_parametric.py

@@ -29,7 +29,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of the parametrized links
             root_link (str, optional): the first link. Defaults to 'root_link'.

src/adam/parametric/jax/computations_parametric.py

@@ -30,7 +30,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.

src/adam/parametric/model/parametric_factories/parametric_model.py

@@ -1,10 +1,11 @@
 import pathlib
 from typing import List
+import os
 
 import urdf_parser_py.urdf
 from adam.core.spatial_math import SpatialMath
 from adam.model import ModelFactory, StdJoint, StdLink, Link, Joint
-from adam.model.std_factories.std_model import urdf_remove_sensors_tags
+from adam.model.std_factories.std_model import urdf_remove_sensors_tags, get_xml_string
 from adam.parametric.model import ParametricJoint, ParametricLink
 
 
@@ -15,6 +16,7 @@ class URDFParametricModelFactory(ModelFactory):
         ModelFactory: the Model factory
     """
 
+    # TODO: path can be either a path and an urdf-string, leaving path for back compatibility, to be changed to meaningfull name
     def __init__(
         self,
         path: str,
@@ -24,10 +26,7 @@ def __init__(
         densities,
     ):
         self.math = math
-        if type(path) is not pathlib.Path:
-            path = pathlib.Path(path)
-        if not path.exists():
-            raise FileExistsError(path)
+        xml_string = get_xml_string(path)
         self.links_name_list = links_name_list
 
         # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
@@ -37,9 +36,6 @@ def __init__(
         # to have a useless and noisy warning, let's remove before hands all the sensor elements,
         # that anyhow are not parser by urdf_parser_py or adam
         # See https://github.com/ami-iit/ADAM/issues/59
-        xml_file = open(path, "r")
-        xml_string = xml_file.read()
-        xml_file.close()
         xml_string_without_sensors_tags = urdf_remove_sensors_tags(xml_string)
 
         self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_string(

src/adam/parametric/numpy/computations_parametric.py

@@ -27,7 +27,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.

src/adam/parametric/pytorch/computations_parametric.py

@@ -30,7 +30,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.

src/adam/pytorch/computations.py

@@ -25,7 +25,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """