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40 lines
1.5 KiB
40 lines
1.5 KiB
#!/usr/bin/env python3
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"""
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This script updates the Mesh files and URDF file specific to a robot batch.
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"""
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import os
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from os.path import exists
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import stretch_body.hello_utils as hu
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import subprocess
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import sys
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def run_cmd(cmdstr):
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process = subprocess.run(cmdstr, capture_output=True, text=True, shell=True)
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if process.returncode != 0:
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print("update_description.py ERROR: {}".format(process.stderr), file=sys.stderr)
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sys.exit(1)
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return process
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if exists(hu.get_fleet_directory() + 'stretch_configuration_params.yaml'):
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batch_name = hu.read_fleet_yaml('stretch_configuration_params.yaml')['robot']['batch_name'].lower()
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else:
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batch_name = hu.read_fleet_yaml('stretch_re1_factory_params.yaml')['robot']['batch_name'].lower()
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batch_meshes_path = os.path.expanduser(
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'~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/meshes/*.STL'
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batch_urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/urdf/*.xacro'
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meshes_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/meshes')
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urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/urdf')
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cmd_cp_meshes = 'cp {} {}'.format(batch_meshes_path, meshes_path)
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cmd_cp_urdfs = 'cp {} {}'.format(batch_urdfs_path, urdfs_path)
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print("Copying in Mesh files and URDF files from batch:" + batch_name)
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print(cmd_cp_meshes)
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run_cmd(cmd_cp_meshes)
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print(cmd_cp_urdfs)
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run_cmd(cmd_cp_urdfs)
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