moveit2
The MoveIt Motion Planning Framework for ROS 2.
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round_collada_numbers.py
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1#! /usr/bin/env python
2
3"""
4/*********************************************************************
5 * Software License Agreement (BSD License)
6 *
7 * Copyright (c) 2013, University of Colorado, Boulder
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the Univ of CO, Boulder nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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30 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
31 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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38"""
39# Author: Dave Coleman
40# Desc: Rounds all the numbers to <decimal places> places
41
42from __future__ import print_function
43
44from lxml import etree
45import shlex
46import sys
47
48
49def doRound(values, decimal_places):
50 num_vector = shlex.split(values)
51 new_vector = []
52
53 for num in num_vector:
54 new_num = round(float(num), decimal_places)
55 print("Old:", num, "New:", new_num)
56 new_vector.append(str(new_num))
57
58 new = " ".join(new_vector)
59 # print('Original:', values, ' Updated: ', new)
60
61 return new
62
63
64# -----------------------------------------------------------------------------
65
66if __name__ == "__main__":
67 # Check input arguments
68 try:
69 input_file = sys.argv[1]
70 output_file = sys.argv[2]
71 decimal_places = int(sys.argv[3])
72 assert len(sys.argv) < 5 # invalid num-arguments
73 except:
74 print(
75 "\nUsage: round_collada_numbers.py <input_dae> <output_dae> <decimal places>"
76 )
77 print("Rounds all the numbers to <decimal places> places\n")
78 sys.exit(-1)
79
80 print("\nCollada Number Rounder")
81 print("Rounding numbers to", decimal_places, "decimal places\n")
82
83 namespace = "http://www.collada.org/2008/03/COLLADASchema"
84 dom = etree.parse(input_file)
85
86 # find elements of particular name
87 elements = dom.xpath("//ns:translate", namespaces={"ns": namespace})
88 for i in range(len(elements)):
89 elements[i].text = doRound(elements[i].text, decimal_places)
90
91 # find elements of particular name
92 elements = dom.xpath("//ns:rotate", namespaces={"ns": namespace})
93 for i in range(len(elements)):
94 elements[i].text = doRound(elements[i].text, decimal_places)
95
96 # find elements of particular name
97 elements = dom.xpath("//ns:min", namespaces={"ns": namespace})
98 for i in range(len(elements)):
99 elements[i].text = doRound(elements[i].text, decimal_places)
100
101 # find elements of particular name
102 elements = dom.xpath("//ns:max", namespaces={"ns": namespace})
103 for i in range(len(elements)):
104 elements[i].text = doRound(elements[i].text, decimal_places)
105
106 # find elements of particular name
107 elements = dom.xpath("//ns:float", namespaces={"ns": namespace})
108 for i in range(len(elements)):
109 elements[i].text = doRound(elements[i].text, decimal_places)
110
111 # save changes
112 with open(output_file, "wb") as f:
113 dom.write(f, encoding="utf-8")
doRound(values, decimal_places)
void print(PropagationDistanceField &pdf, int numX, int numY, int numZ)