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Make Prepare Special URDF script fail with success exit code #68

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merged 2 commits into from
Jul 10, 2024
Merged

Make Prepare Special URDF script fail with success exit code #68

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185fca1
Add a try exception block on loading URDF from export folder
hello-fazil Jul 10, 2024
cec8388
formatting fix
hello-fazil Jul 10, 2024
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9 changes: 8 additions & 1 deletion prepare_specialized_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
import pathlib
import pprint
import subprocess
import sys
from typing import Dict, Optional, Tuple

# Third-party imports
Expand Down Expand Up @@ -94,7 +95,13 @@ def save_urdf_file(robot, file_name):
print("Loading URDF from:")
print(urdf_filename)
print("The specialized URDFs will be derived from this URDF.")
robot = ud.Robot.from_xml_file(urdf_filename)
try:
robot = ud.Robot.from_xml_file(urdf_filename)
except FileNotFoundError:
print(
f"The URDF file was not found in path {urdf_filename}. Unable to create specialized URDFs."
)
sys.exit(0)

# Change any joint that should be immobile for end effector IK into a fixed joint
for j in robot.joint_map.keys():
Expand Down