Adding the possibility to load both from string and path

src/adam/casadi/computations.py

@@ -27,12 +27,12 @@ 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'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(path=urdfstring, math=math)
+        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF

src/adam/jax/computations.py

@@ -25,12 +25,12 @@ 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'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(path=urdfstring, math=math)
+        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF

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
@@ -30,23 +30,45 @@ class URDFModelFactory(ModelFactory):
         ModelFactory: the Model factory
     """
 
-    def __init__(self, path: str, math: SpatialMath):
+    def __init__(self, urdf_string: str, math: SpatialMath):
         self.math = math
-        if type(path) is not pathlib.Path:
-            path = pathlib.Path(path)
-        if not path.exists():
-            raise FileExistsError(path)
-
+        isPath = False
+        isUrdf = False
+        # Checking if it is a path or an urdf
+        if type(urdf_string) is not (pathlib.Path):
+            if os.path.exists(urdf_string):
+                urdf_string = pathlib.Path(urdf_string)
+                isPath = True
+            else:
+                root = ET.fromstring(urdf_string)
+                robot_el = None
+                for elem in root.iter():
+                    if elem.tag == "robot":
+                        xml_string = urdf_string
+                        isUrdf = True
+                        # raise ValueError(f"Invalid urdf string: {urdf_string}. It is neither a path nor a urdf string")
+        elif urdf_string.exists():
+            isPath = True
+
+        if not (isPath) and not (isUrdf):
+            raise ValueError(
+                f"Invalid urdf string: {urdf_string}. It is neither a path nor a urdf string"
+            )
+
+        if isPath:
+            if not (urdf_string.exists()):
+                raise FileExistsError(path)
+            urdf_string = pathlib.Path(urdf_string)
+            xml_file = open(urdf_string, "r")
+            xml_string = xml_file.read()
+            xml_file.close()
         # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
         # sensor tags are valid elements of URDF (see ),
         # but they are ignored by urdf_parser_py, that complains every time it sees one.
         # As there is nothing to be fixed in the used models, and it is not useful
         # 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(
             xml_string_without_sensors_tags

src/adam/numpy/computations.py

@@ -29,7 +29,7 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(path=urdfstring, math=math)
+        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = model.NDoF

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

@@ -162,7 +162,7 @@ def compute_volume(self, length_multiplier):
             volume = math.pi * visual_data_new[1] ** 2 * visual_data_new[0]
         elif self.geometry_type == Geometry.SPHERE:
             visual_data_new = self.visual_data.radius * length_multiplier
-            volume = 4 * math.pi * visual_data_new**3 / 3
+            volume = 4 * math.pi * visual_data_new ** 3 / 3
         return volume, visual_data_new
 
     def compute_mass(self):
@@ -235,7 +235,7 @@ def compute_inertia_parametric(self):
                 I.izz = I.iyy
             return I
         elif self.geometry_type == Geometry.SPHERE:
-            I.ixx = 2 * self.mass * self.visual_data_new**2 / 5
+            I.ixx = 2 * self.mass * self.visual_data_new ** 2 / 5
             I.iyy = I.ixx
             I.izz = I.ixx
         return I

src/adam/pytorch/computations.py

@@ -32,7 +32,7 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(path=urdfstring, math=math)
+        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF