eusurdf: make_static_model.py Source File

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00001 #! /usr/bin/env python
00002 
00003 import sys
00004 import os
00005 import commands
00006 
00007 
00008 def make_static_model (name, eusurdf_package_path=commands.getoutput('rospack find eusurdf'), overwrite=True):
00009     urdf_dir_path = eusurdf_package_path + '/models/' + name
00010     static_urdf_dir_path = urdf_dir_path + '_static'
00011     urdf_path = urdf_dir_path + '/' + 'model.urdf'
00012     static_urdf_path = static_urdf_dir_path + '/' + 'model.urdf'
00013 
00014     if overwrite:
00015         os.system("rm -rf %s" % static_urdf_dir_path)
00016     else:
00017         if os.path.exists(static_urdf_dir_path):
00018             print '[ERROR] the same name static model already exits'
00019             exit(1)
00020 
00021     os.system("cp -r %s %s" % (urdf_dir_path, static_urdf_dir_path))
00022 
00023     if len(commands.getoutput("grep \"<static>false</static>\" %s" % static_urdf_path)) != 0:
00024         os.system('sed -i -e \"s@<static>false</static>@<static>true</static>@g\" %s' % static_urdf_path)
00025     elif len(commands.getoutput("grep \"<static>true</static>\" %s" % static_urdf_path)) == 0:
00026         os.system('sed -i -e \"s@  <link @  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n  <link @g\" %s' % static_urdf_path)
00027         # os.system('sed -i -e \"s@</robot>@  <gazebo>\\n    <static>true</static>\\n  </gazebo>\\n</robot>@g\" %s' % static_urdf_path)
00028 
00029     os.system('sed -i -e "s@<robot name=\\"\(.*\)\\"@<robot name=\\"\\1_static\\"@g\" %s' % static_urdf_path)
00030 
00031 
00032 if __name__ == '__main__':
00033     if len(sys.argv) > 2:
00034         make_static_model(sys.argv[1], eusurdf_package_path=sys.argv[2])
00035     elif len(sys.argv) > 1:
00036         make_static_model(sys.argv[1])