From 685854ecbd08a2713fca17bff45c87ab2dfeec3d Mon Sep 17 00:00:00 2001 From: Ethan Clark Date: Tue, 25 Mar 2025 16:10:11 -0700 Subject: [PATCH] add case handling with urdf --- open_phantom/utils/handle_urdf.py | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/open_phantom/utils/handle_urdf.py b/open_phantom/utils/handle_urdf.py index 31c34db..6cf37bd 100644 --- a/open_phantom/utils/handle_urdf.py +++ b/open_phantom/utils/handle_urdf.py @@ -83,16 +83,25 @@ def handle_urdf(urdf_path: str) -> str: try: urdf_dir = os.path.dirname(urdf_path) - robot_base_dir = os.path.dirname(urdf_dir) - root, fixed_path = fix_mesh_paths(urdf_path, robot_base_dir) - format_xml(root, fixed_path) - print(f"Successfully processed URDF: {fixed_path}") - return fixed_path + if urdf_path.endswith("_fixed.urdf"): + print("URDF is already fixed. Skipping processing.") + fixed_path = urdf_path + elif os.path.exists(urdf_path.replace(".urdf", "_fixed.urdf")): + print("Fixed URDF already exists. Skipping processing.") + fixed_path = urdf_path.replace(".urdf", "_fixed.urdf") + else: + print("Processing URDF...") + robot_base_dir = os.path.dirname(urdf_dir) + root, fixed_path = fix_mesh_paths(urdf_path, robot_base_dir) + format_xml(root, fixed_path) + print(f"Successfully processed URDF: {fixed_path}") except Exception as e: print(f"Failed to process URDF: {e}") raise e + return fixed_path + if __name__ == "__main__": # Example usage