Swift crashes before plotting the robot #383
Description
Describe the bug
I am experiencing an issue while trying to display a the robot plot in 3D using the roboticstoolbox library. I am following the code examples mentioned here, but I encounter errors related to file path resolution and file not found when trying to load mesh files (.dae) for visualization.
During the plot generation, I encounter the following error message related to file path resolution and file not found:
Error: Could not load retrieve/[file-path]: fetch for "[http://localhost:52000/retrieve/http://localhost:52000/retrieve/C:/Users/juanm/Dev/Robot/Toolbox/.venv/Lib/site-packages/rtbdata/xacro/franka_description/meshes/visual/link1.dae]" responded with 404: File not found.
I have check manually if the path exist, and I can access to the .dae file. However the complete path (including /localhost:52000/retrieve/... gives me 404)
Version information
Installed using PyPI inside of a Python (3.10.8) .venv:
- roboticstoolbox-python (1.1.0)
- swift-sim (1.1.0)
To Reproduce
Steps to reproduce the behavior:
- Use a local Python environment and install roboticstoolbox-python (in Windows)
- Run the following script:
import roboticstoolbox as rp
panda = rp.models.Panda()
panda.plot(q=panda.qr)- Refresh the page and get an empty 3D view for few seconds and it crashes. The console output gives:
connection handler failed
Traceback (most recent call last):
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 959, in transfer_data
message = await self.read_message()
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 1029, in read_message
frame = await self.read_data_frame(max_size=self.max_size)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 1104, in read_data_frame
frame = await self.read_frame(max_size)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 1161, in read_frame
frame = await Frame.read(
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\framing.py", line 95, in read
mask_bits = await reader(4)
File "C:\Users\juanm\AppData\Local\Programs\Python\Python310\lib\asyncio\streams.py", line 696, in readexactly
raise self._exception
File "C:\Users\juanm\AppData\Local\Programs\Python\Python310\lib\asyncio\proactor_events.py", line 301, in _loop_reading
self._read_fut = self._loop._proactor.recv_into(self._sock, self._data)
File "C:\Users\juanm\AppData\Local\Programs\Python\Python310\lib\asyncio\windows_events.py", line 477, in recv_into
ov.WSARecvInto(conn.fileno(), buf, flags)
ConnectionAbortedError: [WinError 10053] Se ha anulado una conexión establecida por el software en su equipo host
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\server.py", line 240, in handler
await self.ws_handler(self)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\server.py", line 1186, in _ws_handler
return await cast(
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\swift\SwiftRoute.py", line 320, in serve
await self.expect_message(websocket, expected)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\swift\SwiftRoute.py", line 325, in expect_message
recieved = await websocket.recv()
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 568, in recv
await self.ensure_open()
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\websockets\legacy\protocol.py", line 935, in ensure_open
raise self.connection_closed_exc()
websockets.exceptions.ConnectionClosedError: no close frame received or sent
Traceback (most recent call last):
File "c:\Users\juanm\Dev\Robot\Toolbox\swift_test.py", line 4, in <module>
panda.plot(q=panda.qr)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\roboticstoolbox\robot\BaseRobot.py", line 2342, in plot
env.add(self, readonly=True, **kwargs)
File "C:\Users\juanm\Dev\Robot\Toolbox\.venv\lib\site-packages\swift\Swift.py", line 405, in add
while not int(self._send_socket("shape_mounted", [id, len(robob)])):
ValueError: invalid literal for int() with base 10: 'Connected'
Expected behavior
I expected the roboticstoolbox library to automatically handle the loading and visualization of the robot model using the specified URDF file and associated mesh files (STL or Collada format). The tutorial implies that the visualization should work seamlessly.
Screenshots
Environment (please complete the following information):
- Windows 11
- Python 3.10.8