luckyrobots/open_phantom
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add case handling with urdf

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This commit is contained in:
Ethan Clark 2025-03-25 16:10:11 -07:00
parent 55317d3ac2
commit 685854ecbd
1 changed files with 14 additions and 5 deletions
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19
open_phantom/utils/handle_urdf.py
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@ -83,16 +83,25 @@ def handle_urdf(urdf_path: str) -> str:
try: try:
urdf_dir = os.path.dirname(urdf_path) 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) if urdf_path.endswith("_fixed.urdf"):
format_xml(root, fixed_path) print("URDF is already fixed. Skipping processing.")
print(f"Successfully processed URDF: {fixed_path}") fixed_path = urdf_path
return fixed_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: except Exception as e:
print(f"Failed to process URDF: {e}") print(f"Failed to process URDF: {e}")
raise e raise e
return fixed_path
if __name__ == "__main__": if __name__ == "__main__":
# Example usage # Example usage