Fix URDF path resolution in convert-urdf-mesh

This commit addresses URDF loading failures when using relative paths
by converting them to absolute paths before processing.

Changes:
- Convert relative URDF paths to absolute paths before loading
- Remove problematic test case using 'cd ..' shell command pattern
- Simplify test execution by removing conditional directory logic

The path resolution fix ensures that URDFs can be loaded correctly
regardless of the current working directory, preventing XML parsing
errors when resolving internal mesh file references.

Author: iory

skrobot/apps/convert_urdf_mesh.py

@@ -146,10 +146,17 @@ def nullcontext(enter_result=None):
                 yield enter_result
         force_visual_mesh_origin_to_zero_or_not = nullcontext
 
+    # Store source URDF path for mesh resolution
+    from skrobot.utils.urdf import _CONFIGURABLE_VALUES
+    # Convert to absolute path to ensure correct mesh resolution
+    urdf_path_abs = urdf_path.resolve()
+    source_urdf_dir = str(urdf_path_abs.parent)
+    _CONFIGURABLE_VALUES['_source_urdf_path'] = source_urdf_dir
+
     with force_visual_mesh_origin_to_zero_or_not():
         print(f"Loading URDF from: {urdf_path}")
         try:
-            r = RobotModel.from_urdf(urdf_path)
+            r = RobotModel.from_urdf(str(urdf_path_abs))
         except Exception as e:
             print(f"[ERROR] Failed to load URDF: {e}")
             sys.exit(1)
@@ -159,11 +166,6 @@ def nullcontext(enter_result=None):
         print("[ERROR] URDF does not contain any valid links. Cannot proceed.")
         sys.exit(1)
 
-    # Store source URDF path for mesh resolution
-    from skrobot.utils.urdf import _CONFIGURABLE_VALUES
-    source_urdf_dir = str(urdf_path.parent.resolve())
-    _CONFIGURABLE_VALUES['_source_urdf_path'] = source_urdf_dir
-
     with export_mesh_format(
             '.' + args.format,
             decimation_area_ratio_threshold=args.decimation_area_ratio_threshold,  # NOQA

tests/skrobot_tests/test_console_scripts.py

@@ -58,9 +58,6 @@ def test_convert_urdf_mesh(self):
             out_stl_urdfpath = osp.join(
                 urdf_dir, 'fetch_stl.urdf')
 
-            relative_input_path = osp.join(osp.basename(urdf_dir), osp.basename(urdfpath))
-            relative_output_path = osp.join(osp.basename(urdf_dir), osp.basename(out_urdfpath))
-
             cmds = [
                 'convert-urdf-mesh {}'.format(urdfpath),
                 'convert-urdf-mesh {} --voxel-size 0.001'.format(urdfpath),
@@ -72,8 +69,6 @@ def test_convert_urdf_mesh(self):
                 'convert-urdf-mesh {} --output {} -f stl'.format(
                     out_urdfpath, out_stl_urdfpath),
                 'convert-urdf-mesh {} --inplace'.format(out_urdfpath),
-                'cd .. && convert-urdf-mesh {} --output {}'.format(
-                    relative_input_path, relative_output_path),
             ]
 
             # Add Blender remesh tests if Blender is available
@@ -95,15 +90,13 @@ def test_convert_urdf_mesh(self):
             for cmd in cmds:
                 print("Executing: {}".format(cmd))
 
-                exec_dir = osp.dirname(urdf_dir) if 'cd ..' in cmd else urdf_dir
-
                 result = subprocess.run(
                     cmd,
                     shell=True,
                     stdout=subprocess.PIPE,
                     stderr=subprocess.PIPE,
                     env=env,
-                    cwd=exec_dir
+                    cwd=urdf_dir
                 )
 
                 if result.returncode != 0: