Move file:/ logic

src/resolve_robotics_uri_py/resolve_robotics_uri_py.py

@@ -95,6 +95,30 @@ def resolve_robotics_uri(uri: str) -> pathlib.Path:
     if not any(uri.startswith(scheme) for scheme in SupportedSchemes):
         uri = f"file://{pathlib.Path(uri).resolve()}"
 
+
+    # ================================================
+    # Process file:/ separately from the other schemes
+    # ================================================
+
+    if uri.startswith("file:"):
+        # Strip the scheme from the URI
+        uri = uri.replace(f"file://", "")
+        uri = uri.replace(f"file:", "")
+
+        # Create the file path, resolving symlinks and '..'
+        uri_file_path = pathlib.Path(uri).resolve()
+
+        # Check that the file exists
+        if not uri_file_path.is_file():
+            msg = "resolve-robotics-uri-py: No file corresponding to URI '{}' found"
+            raise FileNotFoundError(msg.format(uri))
+
+        return uri_file_path.resolve()
+
+    # =========================
+    # Process the other schemes
+    # =========================
+
     # Get scheme from URI
     from urllib.parse import urlparse
 
@@ -115,23 +139,13 @@ def resolve_robotics_uri(uri: str) -> pathlib.Path:
         raise FileNotFoundError(msg.format(uri, parsed_uri.scheme))
 
     # Strip the scheme from the URI
-    uri_path = uri.replace(f"{parsed_uri.scheme}//", "")
-
-    # Process file:/ separately from the other schemes
-    if parsed_uri.scheme == "file":
-        # Create the file path, resolving symlinks and '..'
-        uri_file_path = pathlib.Path(uri_path).resolve()
-
-        # Check that the file exists
-        if not uri_file_path.is_file():
-            msg = "resolve-robotics-uri-py: No file corresponding to URI '{}' found"
-            raise FileNotFoundError(msg.format(uri))
-
-        return uri_file_path.resolve()
+    uri_path = uri
+    uri_path = uri_path.replace(f"{parsed_uri.scheme}://", "")
 
     # List of matching resources found
     model_filenames = []
 
+    # Search the resource in the path from the env variables
     for folder in set(get_search_paths_from_envs(SupportedEnvVars)):
 
         # Join the folder from environment variable and the URI path