[Python] How do i create a chain from a urdf file using IKpy?

So i'm programming a robot arm, and its structure is explained in a urdf file

<robot name="Patrick">
<link name="Base">
<visual>
<origin xyz="0.0 0.0 0.0017" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.20" length="0.035"/>
</geometry>
</visual>
</link>

<link name="Arm_base">
<visual>
<color rgba="0.0 0.0 1.0 0.0"/>
<geometry>
<cylinder radius="0.06" length="0.10"/>
</geometry>
</visual>
</link>

<joint name="BaseJoint" type="revolute">
<parent link="Base"/>
<child link="Arm_base"/>
<origin xyz="0.0 0.0 0.067" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 0.0 -1"/>
</joint>

<link name="Lower_arm">
<visual>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.03" length="0.15"/>
</geometry>
</visual>
</link>

<joint name="Lower_joint" type="revolute">
<parent link="Arm_base"/>
<child link="Lower_arm"/>
<origin xyz="0.0 0.0 0.05"/>
<axis xyz="1 0.0 0.0"/>
<limit lower="-1.57" upper="1.57"/>
</joint>

<link name="Upper_arm">
<visual>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.03" length="0.15"/>
</geometry>
</visual>
</link>

<joint name="Upper_joint" type="revolute">
<parent link="Lower_arm"/>
<child link="Upper_arm"/>
<origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0"/>
<axis xyz="1 0.0 0.0"/>
<limit lower="-1.57" upper="1.57"/>
</joint>

<link name="Gripper">
<visual>
<origin xyz="0.0 0.0 0.0250" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</visual>
</link>

<joint name="Arm_joint" type="revolute">
<parent link="Upper_arm"/>
<child link="Gripper"/>
<origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0"/>
<axis xyz="1 0.0 0"/>
<limit lower="-1.57" upper="1.57"/>
</joint>

<link name="Gripper_rotation">
<visual>
<origin xyz="0.0 0.0 0.001" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.06 0.07 0.02"/>
</geometry>
</visual>
</link>

<joint name="Arm_rotation" type="revolute">
<parent link="Gripper"/>
<child link="Gripper_rotation"/>
<origin xyz="0.0 0.0 0.06" rpy="0.0 0.0 0.0"/>
<axis xyz="0 0.0 1"/>
<limit lower="-1.57" upper="1.57"/>
</joint>

</robot>


This arm would be programmed using python IKpy, given code was a testcode.

import ikpy.chain
from ikpy.chain import Chain
import numpy as np
import ikpy.utils.plot as plot_utils

import matplotlib.pyplot
from mpl_toolkits.mplot3d import Axes3D

my_chain = Chain.from_urdf_file("BITL.URDF")
target_position = [ 0.1, -0.2, 0.1]
print("The angles of each joints are : ", my_chain.inverse_kinematics(target_position))

real_frame = my_chain.forward_kinematics(my_chain.inverse_kinematics(target_position))
print("Computed position vector : %s, original position vector : %s" % (real_frame[:3, 3], target_position))

ax = matplotlib.pyplot.figure().add_subplot(111, projection='3d')

my_chain.plot(my_chain.inverse_kinematics([2, 2, 2]), ax)
matplotlib.pyplot.show()


but when ran i get this error:

Traceback (most recent call last):
File "c:\Users\Nick.Driesen\Documents\GitHub\BITL\IK\test.py", line 9, in <module>
my_chain = Chain.from_urdf_file("BITL.URDF")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "C:\Users\Nick.Driesen\AppData\Roaming\Python\Python312\site-packages\ikpy\chain.py", line 324, in from_urdf_file
links = URDF.get_urdf_parameters(urdf_file, base_elements=base_elements, last_link_vector=last_link_vector, base_element_type=base_element_type, symbolic=symbolic)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "C:\Users\Nick.Driesen\AppData\Roaming\Python\Python312\site-packages\ikpy\urdf\URDF.py", line 184, in get_urdf_parameters
tree = ET.parse(urdf_file)
^^^^^^^^^^^^^^^^^^^
File "C:\Program Files\Python312\Lib\xml\etree\ElementTree.py", line 1204, in parse
tree.parse(source, parser)
File "C:\Program Files\Python312\Lib\xml\etree\ElementTree.py", line 558, in parse
source = open(source, "rb")
^^^^^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'BITL.URDF'


I'm using visual studio code on windows, don't know if this matters. Anyone know how to fix this ?

First i added the from ikpy.chain import Chain, because at first Chain wasn't defined. but then i got this error.

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