example-robot-data: UR robot doesn't work with latest release

This is the code

import example_robot_data
model = example_robot_data.loadUR()

and it appears

/usr/local/lib/python2.7/dist-packages/pinocchio/shortcuts.py in buildModelsFromUrdf(filename, package_dirs, root_joint, verbose, meshLoader, geometry_types)
     43     for geometry_type in geometry_types:
     44         if meshLoader is None or (not WITH_HPP_FCL and not WITH_HPP_FCL_BINDINGS):
---> 45             geom_model = pin.buildGeomFromUrdf(model, filename, geometry_type, package_dirs)
     46         else:
     47             geom_model = pin.buildGeomFromUrdf(model, filename, geometry_type, package_dirs, meshLoader)

ValueError: Mesh package://example-robot-data/robots/ur_description/meshes/ur5/collision/base.stl could not be found.

I don’t know what it is the source of the problem, maybe pinocchio? This issue was reported by @mfocchi

About this issue

Original URL
State: closed
Created 4 years ago
Comments: 20 (10 by maintainers)

Most upvoted comments

@cmastalli : using ROS_PACKAGE_PATH does not constitute a dependency to ROS. It is a way to tell URDF parser where to find files starting with "package://". We used this variable name to follow ROS convention, but we could have used “URDF_PACKAGE_PATH” in pinocchio parser. In the same way you use PYTHONPATH to tell python where to find a module when using command import, or LD_LIBRARY_PATH to tell the dynamic loader where to find libraries and so on.

florent-lamiraux on Apr 3, 2020