uploading script to set sdf file

robosim_models/UR5e/set_sdf.py

@@ -0,0 +1,59 @@
+#Author: Santiago Gil
+import sys
+from xml.etree import cElementTree as ET
+
+filename = sys.argv[1]
+
+tree = ET.parse(filename)
+root = tree.getroot()
+
+
+for link in root.iter('link'):
+    for collision in link.iter('collision'):
+        for surface in collision.iter('surface'):
+            collision.remove(surface)
+
+
+    for visual in link.iter('visual'):
+        for surface in visual.iter('surface'):
+            visual.remove(surface)
+
+
+
+'''for joint in root.iter('joint'):
+    elem = ET.SubElement(joint,'axis')
+    for axis in joint.iter('axis'):
+        elem = ET.SubElement(axis,'xyz')
+        #if ("arm_world_joint" in joint.get('name')):
+        #    elem.text = "0 0 1"
+        if ("shoulder_pan_joint" in joint.get('name')):
+            #elem.text = "0 0 1"
+            elem.text = "0 0 1"
+        if ("shoulder_lift_joint" in joint.get('name')):
+            #elem.text = "0 -1 0"
+            #elem.text = "0 -1 0"
+            elem.text = "0 1 0"
+        if ("elbow_joint" in joint.get('name')):
+            #elem.text = "0 -1 0"
+            elem.text = "0 1 0"
+
+        if ("wrist_1_joint" in joint.get('name')):
+            #elem.text = "0 1 0"
+            #elem.text = "0 -1 0"
+            elem.text = "0 1 0"
+        if ("wrist_2_joint" in joint.get('name')):
+            #elem.text = "0 0 -1"
+            #elem.text = "0 0 -1"
+            elem.text = "0 0 1"
+        if ("wrist_3_joint" in joint.get('name')):
+            #elem.text = "0 1 0"
+            #elem.text = "0 -1 0"
+            elem.text = "0 1 0"
+        if ("rightFingerGripper" in joint.get('name')):
+            #elem.text = "1 0 0"
+            elem.text = "0 0 1"
+        if ("leftFingerGripper" in joint.get('name')):
+            elem.text = "0 0 -1"
+'''
+
+tree.write('modified_sdf.sdf')