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Fix URDF string path support and Windows npx issue #549

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Fix URDF string path support and Windows npx issue #549

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7 changes: 4 additions & 3 deletions src/viser/_client_autobuild.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ def _build_viser_client(out_dir: Path, cached: bool = True) -> None:
return

node_bin_dir = _install_sandboxed_node()
npx_path = node_bin_dir / "npx"
npx_path = node_bin_dir / ("npx.cmd" if sys.platform == "win32" else "npx")

subprocess_env = os.environ.copy()
subprocess_env["NODE_VIRTUAL_ENV"] = str(node_bin_dir.parent)
Expand Down Expand Up @@ -145,7 +145,8 @@ def get_node_bin_dir() -> Path:
return node_bin_dir

node_bin_dir = get_node_bin_dir()
if (node_bin_dir / "npx").exists():
npx_name = "npx.cmd" if sys.platform == "win32" else "npx"
if (node_bin_dir / npx_name).exists():
rich.print("[bold](viser)[/bold] nodejs is set up!")
return node_bin_dir

Expand All @@ -155,7 +156,7 @@ def get_node_bin_dir() -> Path:
)

node_bin_dir = get_node_bin_dir()
assert (node_bin_dir / "npx").exists()
assert (node_bin_dir / npx_name).exists()
return node_bin_dir


Expand Down
12 changes: 7 additions & 5 deletions src/viser/extras/_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ class ViserUrdf:

Args:
target: ViserServer or ClientHandle object to add URDF to.
urdf_or_path: Either a path to a URDF file or a yourdfpy URDF object.
urdf_or_path: Either a path to a URDF file (str or Path) or a yourdfpy URDF object.
scale: Scale factor to apply to resize the URDF.
root_node_name: Viser scene tree name for the root of the URDF geometry.
mesh_color_override: Optional color to override the URDF's visual mesh colors. RGB or RGBA tuple.
Expand All @@ -78,7 +78,7 @@ class ViserUrdf:
def __init__(
self,
target: viser.ViserServer | viser.ClientHandle,
urdf_or_path: yourdfpy.URDF | Path,
urdf_or_path: yourdfpy.URDF | Path | str,
scale: float = 1.0,
root_node_name: str = "/",
mesh_color_override: tuple[float, float, float]
Expand All @@ -93,16 +93,18 @@ def __init__(
assert root_node_name.startswith("/")
assert len(root_node_name) == 1 or not root_node_name.endswith("/")

if isinstance(urdf_or_path, Path):
if isinstance(urdf_or_path, (Path, str)):
# Convert string path to Path object for consistent handling
path_obj = Path(urdf_or_path) if isinstance(urdf_or_path, str) else urdf_or_path
urdf = yourdfpy.URDF.load(
urdf_or_path,
path_obj,
build_scene_graph=load_meshes,
build_collision_scene_graph=load_collision_meshes,
load_meshes=load_meshes,
load_collision_meshes=load_collision_meshes,
filename_handler=partial(
yourdfpy.filename_handler_magic,
dir=urdf_or_path.parent,
dir=path_obj.parent,
),
)
else:
Expand Down