fix cached working path (#301)

* fix cached working path

* apply suggestions

* update tests

* remove unused import

---------

Co-authored-by: shaoyu <shaoyu>

Author: smeng9

javascript/src/URDFLoader.js

@@ -112,13 +112,7 @@ class URDFLoader {
             })
             .then(data => {
 
-                if (this.workingPath === '') {
-
-                    this.workingPath = workingPath;
-
-                }
-
-                const model = this.parse(data);
+                const model = this.parse(data, this.workingPath || workingPath);
                 onComplete(model);
                 manager.itemEnd(urdfPath);
 
@@ -141,13 +135,12 @@ class URDFLoader {
 
     }
 
-    parse(content) {
+    parse(content, workingPath = this.workingPath) {
 
         const packages = this.packages;
         const loadMeshCb = this.loadMeshCb;
         const parseVisual = this.parseVisual;
         const parseCollision = this.parseCollision;
-        const workingPath = this.workingPath;
         const manager = this.manager;
         const linkMap = {};
         const jointMap = {};

javascript/test/URDFLoader.test.js

@@ -204,6 +204,33 @@ describe('Options', () => {
 
         });
 
+        it('should use correct workingPath to load meshes', async() => {
+
+            const loader = new URDFLoader();
+
+            loader.workingPath = 'https://raw.githubusercontent.com/mock-working-path';
+            loader.loadMeshCb = (path, manager, done) => {
+
+                const mesh = new Mesh();
+                expect(path).toContain('https://raw.githubusercontent.com/mock-working-path');
+                done(mesh);
+
+            };
+            await loader.loadAsync('https://raw.githubusercontent.com/gkjohnson/urdf-loaders/master/urdf/TriATHLETE_Climbing/urdf/TriATHLETE.URDF');
+
+            loader.workingPath = '';
+            loader.loadMeshCb = (path, manager, done) => {
+
+                const mesh = new Mesh();
+                expect(path).toContain('https://raw.githubusercontent.com/gkjohnson/urdf-loaders/master/urdf/TriATHLETE_Climbing/urdf');
+                done(mesh);
+
+            };
+            await loader.loadAsync('https://raw.githubusercontent.com/gkjohnson/urdf-loaders/master/urdf/TriATHLETE_Climbing/urdf/TriATHLETE.URDF');
+
+            expect(loader.workingPath).toBe('');
+        });
+
     });
 
     describe('packages', () => {