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Parse file:// mesh prefix from mesh filepath #206

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Parse file:// mesh prefix from mesh filepath #206

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9 changes: 6 additions & 3 deletions urdf2webots/parserURDF.py
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Original file line number Diff line number Diff line change
Expand Up @@ -594,13 +594,16 @@ def getVisual(link, node, path, outputDirectory):
link.visual.append(visual)
elif hasElement(geometryElement, 'mesh'):
meshfile = geometryElement.getElementsByTagName('mesh')[0].getAttribute('filename')
if not os.path.isabs(meshfile):
# Use the path relative to the output file
meshfile = os.path.normpath(os.path.relpath(os.path.join(path, meshfile), outputDirectory))
# hack for gazebo mesh database
if meshfile.count('package'):
idx0 = meshfile.find('package://')
meshfile = meshfile[idx0 + len('package://'):]
elif meshfile.count('file'):
idx0 = meshfile.find('file://')
meshfile = meshfile[idx0 + len('file://'):]
if not os.path.isabs(meshfile):
# Use the path relative to the output file
meshfile = os.path.normpath(os.path.relpath(os.path.join(path, meshfile), outputDirectory))
Comment on lines 598 to +606
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That would seem clearer and cleaner to me:

Suggested change
if meshfile.count('package'):
idx0 = meshfile.find('package://')
meshfile = meshfile[idx0 + len('package://'):]
elif meshfile.count('file'):
idx0 = meshfile.find('file://')
meshfile = meshfile[idx0 + len('file://'):]
if not os.path.isabs(meshfile):
# Use the path relative to the output file
meshfile = os.path.normpath(os.path.relpath(os.path.join(path, meshfile), outputDirectory))
if meshfile.startswith('package://'):
idx0 = meshfile.find('package://')
meshfile = meshfile[idx0 + len('package://'):] # package relative path
elif meshfile.startswith('file:///'):
idx0 = meshfile.find('file:///')
meshfile = meshfile[idx0 + len('file://'):] # we keep the last slash for absolute path
elif not os.path.isabs(meshfile):
# Use the path relative to the output file
meshfile = os.path.normpath(os.path.relpath(os.path.join(path, meshfile), outputDirectory))

if geometryElement.getElementsByTagName('mesh')[0].getAttribute('scale'):
meshScale = geometryElement.getElementsByTagName('mesh')[0].getAttribute('scale').split()
visual.scale[0] = float(meshScale[0])
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