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fix#35; support uv #38

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fix#35; support uv #38

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6 changes: 6 additions & 0 deletions pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -71,3 +71,9 @@ fixable = ["ALL"]
quote-style = "double"
indent-style = "space"
docstring-code-format = true

[dependency-groups]
dev = [
"numpy>=2.0.2",
"pytest>=8.4.2",
]
20 changes: 15 additions & 5 deletions tests/unit/test_urdf.py
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Expand Up @@ -5,11 +5,7 @@
from urchin import URDF, Joint, Link, Material, Transmission


def test_urchin(tmpdir):
outfn = tmpdir.mkdir("urdf").join("ur5.urdf").strpath

# Load
u = URDF.load("tests/data/ur5/ur5.urdf")
def _test_urdf(u,outfn):

assert isinstance(u, URDF)
for j in u.joints:
Expand Down Expand Up @@ -109,3 +105,17 @@ def test_urchin(tmpdir):
assert isinstance(x, URDF)
x = x.copy(scale=[1, 1, 3])
assert isinstance(x, URDF)

def test_urchin(tmpdir):
outfn = tmpdir.mkdir("urdf").join("ur5.urdf").strpath
# Load
u = URDF.load("tests/data/ur5/ur5.urdf")

_test_urdf(u, outfn)

def test_urchin_pathlib(tmpdir):
from pathlib import Path
outfn = Path(tmpdir.mkdir("urdf").join("ur5.urdf"))
p = "tests/data/ur5/ur5.urdf"
u = URDF.load(Path(p))
_test_urdf(u, outfn)
7 changes: 7 additions & 0 deletions urchin/urdf.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
from __future__ import annotations

import os
from pathlib import Path
import time
from collections import OrderedDict
from typing import IO, Mapping, Optional, Sequence, Union, cast
Expand Down Expand Up @@ -1092,6 +1093,9 @@ def save(self, file_obj: Union[str, IO[bytes], IO[str]]) -> None:
None
Nothing. Writes the URDF XML to ``file_obj``.
"""
if isinstance(file_obj, Path):
file_obj = str(file_obj.expanduser().resolve()) # https://github.com/fishbotics/urchin/issues/35

if isinstance(file_obj, str):
path, _ = os.path.split(file_obj)
else:
Expand Down Expand Up @@ -1207,6 +1211,9 @@ def load(
urdf : :class:`.URDF`
The parsed URDF.
"""
if isinstance(file_obj, Path):
file_obj = str(file_obj.expanduser().resolve()) # https://github.com/fishbotics/urchin/issues/35

if isinstance(file_obj, str):
if os.path.isfile(file_obj):
parser = ET.XMLParser(remove_comments=True, remove_blank_text=True)
Expand Down
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