diff --git a/src/rod/sdf/sdf.py b/src/rod/sdf/sdf.py
index 74e133d..1eed007 100644
--- a/src/rod/sdf/sdf.py
+++ b/src/rod/sdf/sdf.py
@@ -69,24 +69,21 @@ def load(sdf: pathlib.Path | str, is_urdf: bool | None = None) -> Sdf:
         # Check if the input is a string path.
         is_str_path = getattr(sdf, "__len__", lambda: MAX_PATH + 1)() <= MAX_PATH
 
-        if is_urdf is not None:
-            sdf_string = sdf
-        else:
-            match sdf:
-                # Case 1: Handle SDF/URDF string.
-                case str() if not is_str_path:
-                    sdf_string = sdf
-                    is_urdf = "<robot" in sdf_string
-
-                # Case 2: Handle pathlib.Path and string paths.
-                case pathlib.Path() | str():
-                    path = pathlib.Path(sdf)
-                    sdf_string = path.read_text(encoding="utf-8")
-                    is_urdf = path.suffix == ".urdf"
-
-                # Case 3: Raise an error for unsupported types.
-                case _:
-                    raise TypeError(f"Unsupported type for 'sdf': {type(sdf)}")
+        match sdf:
+            # Case 1: Handle SDF/URDF string.
+            case str() if not is_str_path:
+                sdf_string = sdf
+                is_urdf = is_urdf if is_urdf is not None else "<robot" in sdf_string
+
+            # Case 2: Handle pathlib.Path and string paths.
+            case pathlib.Path() | str():
+                path = pathlib.Path(sdf)
+                sdf_string = path.read_text(encoding="utf-8")
+                is_urdf = is_urdf if is_urdf is not None else path.suffix == ".urdf"
+
+            # Case 3: Raise an error for unsupported types.
+            case _:
+                raise TypeError(f"Unsupported type for 'sdf': {type(sdf)}")
 
         # Convert SDF to URDF if needed (it requires system executables)
         if is_urdf:
diff --git a/tests/test_urdf_parsing.py b/tests/test_urdf_parsing.py
index 88d592a..4591693 100644
--- a/tests/test_urdf_parsing.py
+++ b/tests/test_urdf_parsing.py
@@ -35,6 +35,11 @@ def test_urdf_parsing(robot: Robot) -> None:
     with pytest.raises(RuntimeError):
         _ = rod.Sdf.load(sdf=urdf_path.read_text(), is_urdf=False)
 
+    # Check that it fails is is_urdf=True and the resource is a non-existing path
+    with pytest.raises(FileNotFoundError):
+        _ = rod.Sdf.load(sdf="/non/existing/path", is_urdf=None)
+        _ = rod.Sdf.load(sdf="/non/existing/path", is_urdf=False)
+
     # The following instead should succeed
     _ = rod.Sdf.load(sdf=urdf_path, is_urdf=None)
     _ = rod.Sdf.load(sdf=urdf_path, is_urdf=True)