Go to the documentation of this file.00001
00002
00003 import sys
00004 import argparse
00005
00006 import pysdf
00007
00008
00009 def main():
00010 parser = argparse.ArgumentParser()
00011 parser.add_argument('sdf', help='SDF file to convert')
00012 parser.add_argument('urdf', help='Resulting URDF file to be written')
00013 parser.add_argument('-p', '--plot', nargs=1, help='Plot SDF to file')
00014 args = parser.parse_args()
00015
00016 sdf = pysdf.SDF(file=args.sdf)
00017 world = sdf.world
00018 if args.plot:
00019 world.plot_to_file(args.plot[0])
00020 if len(world.models) != 1:
00021 print('SDF contains %s instead of exactly one model. Aborting.' % len(world.models))
00022 sys.exit(1)
00023
00024 model = world.models[0]
00025 print(model)
00026 model.save_urdf(args.urdf)
00027
00028
00029 if __name__ == '__main__':
00030 main()