Adjust parser. Some errors have been moved to warnings. (#33)

ft-lab · web-flow · commit 821d3a5a94b6 · 2025-12-10T12:00:18.000-08:00
diff --git a/tests/data/warning_different_place.urdf b/tests/data/warning_different_place.urdf
@@ -1,7 +1,9 @@
-<robot name="different_places">
+<robot name="warning_different_place">
   <link name="BaseLink">
     <visual>
-      <material name="green" />
+      <material name="green">
+        <color rgba="0.0 1.0 0.0 1"/>
+      </material>
     </visual>
     <!-- This is a deliberate mistake.  -->
     <!-- The geometry is not a child of the visual. -->
diff --git a/tests/data/warning_incorrect_visual_geometry_name.urdf b/tests/data/warning_incorrect_visual_geometry_name.urdf
@@ -1,4 +1,4 @@
-<robot name="incorrect_visual_geometry_name">
+<robot name="warning_incorrect_visual_geometry_name">
   <link name="BaseLink">
     <visual>
       <!-- This is a deliberate mistake.  -->
diff --git a/tests/data/warning_invalid_material_name.urdf b/tests/data/warning_invalid_material_name.urdf
@@ -1,4 +1,4 @@
-<robot name="invalid_material_name">
+<robot name="warning_invalid_material_name">
   <material name="red">
     <color rgba="1.0 0.0 0.0 1"/>
   </material>
diff --git a/tests/data/warning_missing_collision_geometry.urdf b/tests/data/warning_missing_collision_geometry.urdf
@@ -1,4 +1,4 @@
-<robot name="missing_collision_geometry">
+<robot name="warning_missing_collision_geometry">
   <link name="BaseLink">
     <visual>
       <geometry>
diff --git a/tests/data/warning_missing_visual_geometry.urdf b/tests/data/warning_missing_visual_geometry.urdf
@@ -1,4 +1,4 @@
-<robot name="missing_visual_geometry">
+<robot name="warning_missing_visual_geometry">
   <link name="BaseLink">
     <visual>
       <!-- This is a deliberate mistake.  -->
diff --git a/tests/data/warning_no_joint_k_velocity.urdf b/tests/data/warning_no_joint_k_velocity.urdf
@@ -1,4 +1,4 @@
-<robot name="no_joint_k_velocity">
+<robot name="warning_no_joint_k_velocity">
   <link name="BaseLink">
     <visual>
       <origin rpy="0 0 0" xyz="-2 0 0.5"/>
diff --git a/tests/data/warning_no_mesh_filename.urdf b/tests/data/warning_no_mesh_filename.urdf
@@ -1,4 +1,4 @@
-<robot name="no_mesh_filename">
+<robot name="warning_no_mesh_filename">
   <link name="BaseLink">
     <visual>
       <origin rpy="0 0 0" xyz="-2 0 0.5"/>
diff --git a/tests/data/warning_obj_no_exist_filename.urdf b/tests/data/warning_obj_no_exist_filename.urdf
@@ -1,4 +1,4 @@
-<robot name="obj_no_exist_filename">
+<robot name="warning_obj_no_exist_filename">
   <link name="BaseLink">
     <visual>
       <geometry>
diff --git a/tests/data/warning_obj_no_shape.urdf b/tests/data/warning_obj_no_shape.urdf
@@ -1,4 +1,4 @@
-<robot name="obj_no_shape">
+<robot name="warning_obj_no_shape">
   <link name="BaseLink">
     <visual>
       <geometry>
diff --git a/tests/testConverter.py b/tests/testConverter.py
@@ -2,6 +2,9 @@
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 
+import usdex.test
+from pxr import Tf
+
 import urdf_usd_converter
 from tests.util.ConverterTestCase import ConverterTestCase
 
@@ -44,22 +47,34 @@ def test_joint_loop_structure(self):
         with self.assertRaisesRegex(ValueError, r".*Closed loop articulations are not supported.*"):
             converter.convert(input_path, output_dir)
 
-    def test_load_error_obj_no_exist_filename(self):
+    def test_load_warning_obj_no_exist_filename(self):
         # A non-existent obj file is specified.
 
-        input_path = "tests/data/error_obj_no_exist_filename.urdf"
-        output_dir = str(pathlib.Path(self.tmpDir()) / "error_obj_no_exist_filename")
+        input_path = "tests/data/warning_obj_no_exist_filename.urdf"
+        output_dir = str(pathlib.Path(self.tmpDir()) / "warning_obj_no_exist_filename")
 
         converter = urdf_usd_converter.Converter()
-        with self.assertRaisesRegex(RuntimeError, r".*could not be parsed..*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*could not be parsed. Cannot open file.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             converter.convert(input_path, output_dir)
 
-    def test_load_error_obj_no_shape(self):
+    def test_load_warning_obj_no_shape(self):
         # There is no shape.
 
-        input_path = "tests/data/error_obj_no_shape.urdf"
+        input_path = "tests/data/warning_obj_no_shape.urdf"
         output_dir = str(pathlib.Path(self.tmpDir()) / "error_obj_no_shape")
 
         converter = urdf_usd_converter.Converter()
-        with self.assertRaisesRegex(RuntimeError, r".*contains no meshes.*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*contains no meshes.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             converter.convert(input_path, output_dir)
diff --git a/tests/test_parser.py b/tests/test_parser.py
@@ -2,6 +2,9 @@
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 
+import usdex.core
+from pxr import Tf
+
 from tests.util.ConverterTestCase import ConverterTestCase
 from urdf_usd_converter._impl.urdf_parser.parser import URDFParser
 
@@ -60,16 +63,6 @@ def test_load_error_incorrect_vec4(self):
         with self.assertRaisesRegex(RuntimeError, r".*rgba: Invalid value: 0.0 1.0 \(line: 5\).*"):
             parser.parse()
 
-    def test_load_error_different_place(self):
-        # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_different_place.urdf")
-        parser = URDFParser(model_path)
-
-        with self.assertRaisesRegex(
-            RuntimeError, r".*geometry: Invalid element type. This uses a reserved tag, but in the wrong place \(line: 8\).*"
-        ):
-            parser.parse()
-
     def test_load_error_no_material_name(self):
         # Load the specified URDF file.
         model_path = pathlib.Path("tests/data/error_no_material_name.urdf")
@@ -78,12 +71,18 @@ def test_load_error_no_material_name(self):
         with self.assertRaisesRegex(RuntimeError, r".*material: name is required \(line: 4\).*"):
             parser.parse()
 
-    def test_load_error_no_mesh_filename(self):
+    def test_load_warning_no_mesh_filename(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_no_mesh_filename.urdf")
+        model_path = pathlib.Path("tests/data/warning_no_mesh_filename.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*mesh: Filename is required \(line: 8\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*mesh: Filename is required.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
     def test_load_error_duplicate_material_names(self):
@@ -110,36 +109,62 @@ def test_load_error_duplicate_joint_names(self):
         with self.assertRaisesRegex(RuntimeError, r".*joint: Joint name 'JointA' already exists \(line: 36\).*"):
             parser.parse()
 
-    def test_load_error_invalid_material_name(self):
+    def test_load_warning_invalid_material_name(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_invalid_material_name.urdf")
+        model_path = pathlib.Path("tests/data/warning_invalid_material_name.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*Material name 'green' not found \(line: 13\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Material name 'green' not found.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
-    def test_load_error_missing_visual_geometry(self):
+    def test_load_warning_missing_visual_geometry(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_missing_visual_geometry.urdf")
+        model_path = pathlib.Path("tests/data/warning_missing_visual_geometry.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*Geometry must have one of the following: box, sphere, cylinder, or mesh \(line: 6\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Geometry must have one of the following: box, sphere, cylinder, or mesh.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
-    def test_load_error_incorrect_visual_geometry_name(self):
+    def test_load_warning_incorrect_visual_geometry_name(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_incorrect_visual_geometry_name.urdf")
+        model_path = pathlib.Path("tests/data/warning_incorrect_visual_geometry_name.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*foo: Invalid geometry type \(line: 7\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*foo: Invalid geometry type.*"),
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*material: link: Material name 'green' not found.*"),
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Geometry must have one of the following: box, sphere, cylinder, or mesh.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
-    def test_load_error_missing_collision_geometry(self):
+    def test_load_warning_missing_collision_geometry(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_missing_collision_geometry.urdf")
+        model_path = pathlib.Path("tests/data/warning_missing_collision_geometry.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*Geometry must have one of the following: box, sphere, cylinder, or mesh \(line: 11\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Geometry must have one of the following: box, sphere, cylinder, or mesh.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
     def test_load_error_incorrect_joint_child_link_name(self):
@@ -166,12 +191,18 @@ def test_load_error_no_joint_type(self):
         with self.assertRaisesRegex(RuntimeError, r".*joint: Type is required \(line: 22\).*"):
             parser.parse()
 
-    def test_load_error_no_joint_k_velocity(self):
+    def test_load_warning_no_joint_k_velocity(self):
         # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_no_joint_k_velocity.urdf")
+        model_path = pathlib.Path("tests/data/warning_no_joint_k_velocity.urdf")
         parser = URDFParser(model_path)
 
-        with self.assertRaisesRegex(RuntimeError, r".*safety_controller: k_velocity is required \(line: 26\).*"):
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [
+                (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*safety_controller: k_velocity is required.*"),
+            ],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
             parser.parse()
 
     def test_load_error_no_joint_mimic_joint(self):
@@ -222,6 +253,18 @@ def test_load_error_joint_axis_0(self):
         with self.assertRaisesRegex(RuntimeError, r".*axis: Axis xyz cannot be \(0, 0, 0\) \(line: 25\).*"):
             parser.parse()
 
+    def test_load_warning_different_place(self):
+        # Load the specified URDF file.
+        model_path = pathlib.Path("tests/data/warning_different_place.urdf")
+        parser = URDFParser(model_path)
+
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [(Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*geometry: Invalid element type. This uses a reserved tag, but in the wrong place.*")],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
+            parser.parse()
+
     def test_has_no_material(self):
         # Load the specified URDF file.
         model_path = pathlib.Path("tests/data/simple_box_no_material.urdf")
diff --git a/urdf_usd_converter/_impl/link.py b/urdf_usd_converter/_impl/link.py
@@ -14,6 +14,7 @@
     ElementCollision,
     ElementInertia,
     ElementLink,
+    ElementMesh,
     ElementVisual,
 )
 from .utils import (
@@ -58,8 +59,16 @@ def convert_link(parent: Usd.Prim, link: ElementLink, data: ConversionData) -> U
     apply_inertial(link_prim, link, data)
 
     # Create visual or collision geometry.
-    geometries: list[ElementVisual | ElementCollision] = [visual for visual in link.visuals if visual.geometry and visual.geometry.shape] + [
-        collision for collision in link.collisions if collision.geometry and collision.geometry.shape
+    geometries: list[ElementVisual | ElementCollision] = [
+        visual
+        for visual in link.visuals
+        if visual.geometry and visual.geometry.shape and (not isinstance(visual.geometry.shape, ElementMesh) or visual.has_mesh_filename())
+    ] + [
+        collision
+        for collision in link.collisions
+        if collision.geometry
+        and collision.geometry.shape
+        and (not isinstance(collision.geometry.shape, ElementMesh) or collision.has_mesh_filename())
     ]
 
     names = [get_geometry_name(geometry_base) for geometry_base in geometries]
diff --git a/urdf_usd_converter/_impl/mesh.py b/urdf_usd_converter/_impl/mesh.py
@@ -44,7 +44,10 @@ def convert_meshes(data: ConversionData):
         # Therefore, this reference is keyed by a unique safe-name.
         data.references[Tokens.Geometry][safe_name] = mesh_prim
 
-        convert_mesh(mesh_prim, filename, data)
+        try:
+            convert_mesh(mesh_prim, filename, data)
+        except Exception as e:
+            Tf.Warn(f"Failed to convert mesh: {filename}: {e}")
 
     usdex.core.saveStage(data.libraries[Tokens.Geometry], comment=f"Mesh Library for {data.urdf_parser.get_robot_name()}. {data.comment}")
 
@@ -83,7 +86,7 @@ def convert_stl(prim: Usd.Prim, input_path: pathlib.Path, data: ConversionData)
         normals=normals,
     )
     if not usd_mesh:
-        Tf.RaiseRuntimeError(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
+        Tf.Warn(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
     return usd_mesh
 
 
@@ -125,18 +128,20 @@ def _convert_single_obj(prim: Usd.Prim, input_path: pathlib.Path, reader: tinyob
         uvs=uvs,
     )
     if not usd_mesh:
-        Tf.RaiseRuntimeError(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
+        Tf.Warn(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
     return usd_mesh
 
 
 def convert_obj(prim: Usd.Prim, input_path: pathlib.Path, data: ConversionData) -> UsdGeom.Mesh | UsdGeom.Xform:
     reader = tinyobjloader.ObjReader()
     if not reader.ParseFromFile(str(input_path)):
-        Tf.RaiseRuntimeError(f'Invalid input_path: "{input_path}" could not be parsed. {reader.Error()}')
+        Tf.Warn(f'Invalid input_path: "{input_path}" could not be parsed. {reader.Error()}')
+        return None
 
     shapes = reader.GetShapes()
     if len(shapes) == 0:
-        Tf.RaiseRuntimeError(f'Invalid input_path: "{input_path}" contains no meshes')
+        Tf.Warn(f'Invalid input_path: "{input_path}" contains no meshes')
+        return None
     elif len(shapes) == 1:
         return _convert_single_obj(prim, input_path, reader)
 
@@ -204,7 +209,8 @@ def convert_obj(prim: Usd.Prim, input_path: pathlib.Path, data: ConversionData)
             uvs=uvs,
         )
         if not usd_mesh:
-            Tf.RaiseRuntimeError(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
+            Tf.Warn(f'Failed to convert mesh "{prim.GetPath()}" from {input_path}')
+            return None
 
         if name != safe_name:
             usdex.core.setDisplayName(usd_mesh.GetPrim(), name)
diff --git a/urdf_usd_converter/_impl/mesh_cache.py b/urdf_usd_converter/_impl/mesh_cache.py
@@ -29,7 +29,7 @@ def store_mesh_cache(self, geo_scope: Usd.Prim, name_cache: usdex.core.NameCache
 
         # Store the name and safe name using the mesh path as the key.
         for mesh in meshes:
-            if mesh[0] not in self.mesh_names:
+            if mesh[0] and mesh[0] not in self.mesh_names:
                 name = pathlib.Path(mesh[0]).stem
                 safe_name = name_cache.getPrimName(geo_scope, name)
                 self.mesh_names[mesh[0]] = {"name": name, "safe_name": safe_name}
diff --git a/urdf_usd_converter/_impl/urdf_parser/elements.py b/urdf_usd_converter/_impl/urdf_parser/elements.py
@@ -307,6 +307,15 @@ def __init__(self):
         self.geometry: ElementGeometry = None
         self.material: ElementMaterial | None = None
 
+    def has_mesh_filename(self) -> bool:
+        return (
+            self.geometry
+            and self.geometry.shape
+            and isinstance(self.geometry.shape, ElementMesh)
+            and hasattr(self.geometry.shape, "filename")
+            and self.geometry.shape.filename
+        )
+
 
 class ElementCollision(ElementBase):
     allowed_parent_tags: ClassVar[list[str]] = ["link"]
@@ -323,6 +332,15 @@ def __init__(self):
         self.geometry: ElementGeometry = None
         self.verbose: ElementVerbose | None = None
 
+    def has_mesh_filename(self) -> bool:
+        return (
+            self.geometry
+            and self.geometry.shape
+            and isinstance(self.geometry.shape, ElementMesh)
+            and hasattr(self.geometry.shape, "filename")
+            and self.geometry.shape.filename
+        )
+
 
 class ElementLink(ElementBase):
     allowed_parent_tags: ClassVar[list[str]] = ["robot"]
diff --git a/urdf_usd_converter/_impl/urdf_parser/parser.py b/urdf_usd_converter/_impl/urdf_parser/parser.py

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="incorrect_visual_geometry_name">`
	`1`	`+<robot name="warning_incorrect_visual_geometry_name">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<!-- This is a deliberate mistake. -->`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="invalid_material_name">`
	`1`	`+<robot name="warning_invalid_material_name">`
`2`	`2`	`<material name="red">`
`3`	`3`	`<color rgba="1.0 0.0 0.0 1"/>`
`4`	`4`	`</material>`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="missing_collision_geometry">`
	`1`	`+<robot name="warning_missing_collision_geometry">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<geometry>`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="missing_visual_geometry">`
	`1`	`+<robot name="warning_missing_visual_geometry">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<!-- This is a deliberate mistake. -->`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="no_joint_k_velocity">`
	`1`	`+<robot name="warning_no_joint_k_velocity">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<origin rpy="0 0 0" xyz="-2 0 0.5"/>`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="no_mesh_filename">`
	`1`	`+<robot name="warning_no_mesh_filename">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<origin rpy="0 0 0" xyz="-2 0 0.5"/>`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="obj_no_exist_filename">`
	`1`	`+<robot name="warning_obj_no_exist_filename">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<geometry>`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-<robot name="obj_no_shape">`
	`1`	`+<robot name="warning_obj_no_shape">`
`2`	`2`	`<link name="BaseLink">`
`3`	`3`	`<visual>`
`4`	`4`	`<geometry>`