Adding the possibility to load both from string and path

[CarlottaSartore]

This PR adds the possibility to load the urdf both from string or from path.
As discussed with @S-Dafarra, I decided not to declare any new method (e.g. LoadFromXMLPath,LoadFromXMLstring)but to modify the current init to ensure back-compatibility

[CarlottaSartore]

After discussing with @Giulero we decided to keep the keyword path with a TODO, the next PR that will break the back compatibility we will put a more meaningful name.

So the PR is now ready for review @S-Dafarra @Giulero

[S-Dafarra]

As a side comment, it would be good to add one test case with an urdf loaded from text

[Giulero]

Thanks @CarlottaSartore ! If it is not a lot of effort, is it possible to wrap this piece of code in a function?

[CarlottaSartore]

Thanks @CarlottaSartore ! If it is not a lot of effort, is it possible to wrap this piece of code in a function?

Yes! Great idea, done in 1726618!

[CarlottaSartore]

The tests are failing but seems due to idyntree pip issues, see the log

Run python -m pip install --upgrade pip

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Building wheels for collected packages: adam-robotics, idyntree, jax, urdf-parser-py
Building wheel for adam-robotics (pyproject.toml): started
Building wheel for adam-robotics (pyproject.toml): finished with status 'done'
Created wheel for adam-robotics: filename=adam_robotics-0.1.dev1-py3-none-any.whl size=55955 sha256=27918684154619f1ab7d59f358496f91cbe0191057e8c68b66af2495feb82a4e
Stored in directory: /tmp/pip-ephem-wheel-cache-p3r_vyvs/wheels/76/a0/32/d0461936cce5d2be4976b56f1425e489ffac3639c206084b1e
Building wheel for idyntree (pyproject.toml): started
Building wheel for idyntree (pyproject.toml): finished with status 'error'
error: subprocess-exited-with-error

× Building wheel for idyntree (pyproject.toml) did not run successfully.
│ exit code: 1
╰─> [90 lines of output]
running bdist_wheel
running build
running build_ext
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at cmake/iDynTreeDependencies.cmake:62 (find_package):
Could not find a package configuration file provided by "Eigen3" (requested
version 3.2.92) with any of the following names:

      Eigen3Config.cmake
      eigen3-config.cmake
  
    Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
    "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
    provides a separate development package or SDK, be sure it has been
    installed.
  Call Stack (most recent call first):
    CMakeLists.txt:34 (include)
  
  
  -- Configuring incomplete, errors occurred!
  
  ==> Configuring:
  $ cmake -S /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea -B /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall -G Ninja -DCMAKE_MAKE_PROGRAM=/tmp/pip-build-env-86ubuphk/overlay/bin/ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX:PATH=/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/lib.linux-x86_64-cpython-38/idyntree -DBUILD_SHARED_LIBS:BOOL=OFF -DIDYNTREE_USES_PYTHON:BOOL=ON -DBUILD_TESTING:BOOL=OFF -DIDYNTREE_PACKAGE_FOR_PYPI:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=OFF -DIDYNTREE_USES_ASSIMP:BOOL=OFF -DIDYNTREE_USES_IRRLICHT:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF -DIDYNTREE_USES_ALGLIB:BOOL=OFF -DIDYNTREE_USES_WORHP:BOOL=OFF -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_PYTHON_PIP_METADATA_INSTALL:BOOL=OFF
  
  ==> Building:
  $ cmake --build /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall --config Release
  
  ==> Installing:
  $ cmake --install /tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall --config Release
  
  Traceback (most recent call last):
    File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 353, in <module>
      main()
    File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 335, in main
      json_out['return_val'] = hook(**hook_input['kwargs'])
    File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/site-packages/pip/_vendor/pyproject_hooks/_in_process/_in_process.py", line 251, in build_wheel
      return _build_backend().build_wheel(wheel_directory, config_settings,
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 415, in build_wheel
      return self._build_with_temp_dir(
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 397, in _build_with_temp_dir
      self.run_setup()
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/build_meta.py", line 313, in run_setup
      exec(code, locals())
    File "<string>", line 11, in <module>
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/__init__.py", line 103, in setup
      return distutils.core.setup(**attrs)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 184, in setup
      return run_commands(dist)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/core.py", line 200, in run_commands
      dist.run_commands()
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 970, in run_commands
      self.run_command(cmd)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command
      super().run_command(command)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command
      cmd_obj.run()
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/command/bdist_wheel.py", line 373, in run
      self.run_command("build")
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command
      self.distribution.run_command(command)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command
      super().run_command(command)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command
      cmd_obj.run()
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/command/build.py", line 135, in run
      self.run_command(cmd_name)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/cmd.py", line 316, in run_command
      self.distribution.run_command(command)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/dist.py", line 974, in run_command
      super().run_command(command)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/setuptools/_distutils/dist.py", line 989, in run_command
      cmd_obj.run()
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/cmake_build_extension/build_extension.py", line 114, in run
      self.build_extension(ext)
    File "/tmp/pip-build-env-86ubuphk/overlay/lib/python3.8/site-packages/cmake_build_extension/build_extension.py", line 241, in build_extension
      subprocess.check_call(configure_command)
    File "/opt/hostedtoolcache/Python/3.8.18/x64/lib/python3.8/subprocess.py", line 364, in check_call
      raise CalledProcessError(retcode, cmd)
  subprocess.CalledProcessError: Command '['cmake', '-S', '/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea', '-B', '/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/temp.linux-x86_64-cpython-38_BuildAndInstall', '-G', 'Ninja', '-DCMAKE_MAKE_PROGRAM=/tmp/pip-build-env-86ubuphk/overlay/bin/ninja', '-DCMAKE_BUILD_TYPE=Release', '-DCMAKE_INSTALL_PREFIX:PATH=/tmp/pip-install-nesq2glx/idyntree_0eb8a310c7754681a96108c519e508ea/build/lib.linux-x86_64-cpython-38/idyntree', '-DBUILD_SHARED_LIBS:BOOL=OFF', '-DIDYNTREE_USES_PYTHON:BOOL=ON', '-DBUILD_TESTING:BOOL=OFF', '-DIDYNTREE_PACKAGE_FOR_PYPI:BOOL=ON', '-DIDYNTREE_USES_IPOPT:BOOL=OFF', '-DIDYNTREE_USES_ASSIMP:BOOL=OFF', '-DIDYNTREE_USES_IRRLICHT:BOOL=OFF', '-DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF', '-DIDYNTREE_USES_ALGLIB:BOOL=OFF', '-DIDYNTREE_USES_WORHP:BOOL=OFF', '-DIDYNTREE_USES_YARP:BOOL=OFF', '-DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF', '-DIDYNTREE_PYTHON_PIP_METADATA_INSTALL:BOOL=OFF']' returned non-zero exit status 1.
  [end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for idyntree
Building wheel for jax (pyproject.toml): started
Building wheel for jax (pyproject.toml): finished with status 'done'
Created wheel for jax: filename=jax-0.4.13-py3-none-any.whl size=1518705 sha256=c7a3a567ab53c15d7b550cb9d166b2f2c735007359dc53c43a86c4a14d4bc6f4
Stored in directory: /home/runner/.cache/pip/wheels/46/d9/15/d2800d4089dc4c77299ac7513c6aa1036f5491edbd2bf6ba16
Building wheel for urdf-parser-py (pyproject.toml): started
Building wheel for urdf-parser-py (pyproject.toml): finished with status 'done'
Created wheel for urdf-parser-py: filename=urdf_parser_py-0.0.4-py3-none-any.whl size=14542 sha256=a1dd9024f44bed1240ac8777411c276c4624efd0b87b66ded08edeb24c1386d8
Stored in directory: /home/runner/.cache/pip/wheels/f5/29/21/51db27425657863937ea10cd93fcf1e6c7d7b59902c2e3259f
Successfully built adam-robotics jax urdf-parser-py
Failed to build idyntree
ERROR: ERROR: Failed to build installable wheels for some pyproject.toml based projects (idyntree)

  </p>
</details> 

[Giulero]

Thanks @CarlottaSartore ! Yup, the tests are failing since the action is not updated (PR #88).
Good to me!