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"""PyBullet utilities for loading assets."""
import os
import six
import time
import pybullet as p
# BEGIN GOOGLE-EXTERNAL
def load_urdf(pybullet_client, file_path, *args, **kwargs):
"""Loads the given URDF filepath."""
# Handles most general file open case.
for _ in range(6):
try:
return pybullet_client.loadURDF(file_path, *args, **kwargs)
except pybullet_client.error as e:
print("PYBULLET load urdf error!")
print(e)
time.sleep(0.1)
print("missing urdf error. use dummy block.")
urdf = 'stacking/block.urdf'
return pybullet_client.loadURDF(urdf, *args, **kwargs)
# END GOOGLE-EXTERNAL
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