urdf格式化

urdf格式化

import os
import xml.dom.minidom as minidom

urdf_path = "airbot_play_v3_gripper.urdf"
new_urdf_path = urdf_path.replace(".urdf", "_new.urdf")

xmlDoc = minidom.parse(urdf_path)

# Save the modified URDF file
if os.path.exists(new_urdf_path):
    os.remove(new_urdf_path)
print("new_urdf_path = ", new_urdf_path)

with open(new_urdf_path, 'w') as fp:
    xmlDoc.writexml(fp)