From e8aef3c58a58e4cf2867998c35cad4208f859723 Mon Sep 17 00:00:00 2001 From: Giuliano Albanese Date: Wed, 4 Sep 2024 17:27:26 +0300 Subject: [PATCH] fix stem modification and remove string conversion --- example/position_retargeting/hand_robot_viewer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/example/position_retargeting/hand_robot_viewer.py b/example/position_retargeting/hand_robot_viewer.py index ecd1639..3ca0930 100644 --- a/example/position_retargeting/hand_robot_viewer.py +++ b/example/position_retargeting/hand_robot_viewer.py @@ -64,9 +64,9 @@ def __init__(self, robot_names: List[RobotName], hand_type: HandType, headless=F # Build robot urdf_path = Path(config.urdf_path) if "glb" not in urdf_path.stem: - urdf_path = str(urdf_path).replace(".urdf", "_glb.urdf") + urdf_path = urdf_path.with_stem(urdf_path.stem + "_glb") robot_urdf = urdf.URDF.load(str(urdf_path), add_dummy_free_joints=True, build_scene_graph=False) - urdf_name = urdf_path.split("/")[-1] + urdf_name = urdf_path.name temp_dir = tempfile.mkdtemp(prefix="dex_retargeting-") temp_path = f"{temp_dir}/{urdf_name}" robot_urdf.write_xml_file(temp_path)