Go to the documentation of this file.00001 import os, sys
00002
00003 stext = '<joint name="double_stereo_frame_joint" type="fixed">'
00004
00005 rtext = '<joint name="openni_rgb_frame_joint" type="fixed">\n\
00006 <origin rpy="0.0074253744 0.0418016634 -0.0065419807" xyz="0.0440562178 -0.0135760086 0.1129906398"/>\n\
00007 <parent link="head_plate_frame"/>\n\
00008 <child link="openni_rgb_frame"/>\n\
00009 </joint>\n\
00010 <link name="openni_rgb_frame">\n\
00011 <inertial>\n\
00012 <mass value="0.01"/>\n\
00013 <origin xyz="0 0 0"/>\n\
00014 <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>\n\
00015 </inertial>\n\
00016 <visual>\n\
00017 <origin rpy="0 0 0" xyz="0 0 0"/>\n\
00018 <geometry>\n\
00019 <box size="0.01 0.01 0.01"/>\n\
00020 </geometry>\n\
00021 </visual>\n\
00022 </link>\n\
00023 <joint name="openni_rgb_optical_frame_joint" type="fixed">\n\
00024 <origin rpy="-1.5707963268 -0.0000000000 -1.5707963268" xyz="0.0000000000 0.0000000000 0.0000000000"/>\n\
00025 <parent link="openni_rgb_frame"/>\n\
00026 <child link="openni_rgb_optical_frame"/>\n\
00027 </joint>\n\
00028 <link name="openni_rgb_optical_frame"/>\n\
00029 <joint name="double_stereo_frame_joint" type="fixed">'
00030
00031 def serchReplace(path):
00032 input = open(path)
00033 print "urdf:", path
00034 out = path+'.tmp'
00035 output = open(out, 'w')
00036 for s in input.xreadlines():
00037 output.write(s.replace(stext, rtext))
00038 input.close()
00039 output.close()
00040 os.rename(out, path)
00041
00042 def usage():
00043 print "\nUsage: python ", sys.argv[0], "<robot_uncalibrated_x.x.x.xml> \n"
00044
00045 if __name__ == "__main__":
00046 if sys.argv.__len__() == 1:
00047 usage()
00048 sys.exit(2)
00049 path = sys.argv[1]
00050 serchReplace(path)
