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#!/usr/bin/env python
import sys
import argparse
from urdf_parser_py.urdf import URDF
parser = argparse.ArgumentParser(usage='Load an URDF file')
parser.add_argument('file', type=argparse.FileType('r'), nargs='?', default=None, help='File to load. Use - for stdin')
parser.add_argument('-o', '--output', type=argparse.FileType('w'), default=None, help='Dump file to XML')
args = parser.parse_args()
if args.file is None:
robot = URDF.from_parameter_server()
else:
robot = URDF.from_xml_string(args.file.read())
print(robot)
if args.output is not None:
args.output.write(robot.to_xml_string())
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