<s> from director . consoleapp import ConsoleApp <EOL> from director import visualization as vis <EOL> from director import roboturdf <EOL> from director import jointcontrol <EOL> import argparse <EOL> def getArgs ( ) : <EOL> parser = argparse . ArgumentParser ( ) <EOL> parser . add_argument ( '<STR_LIT>' , type = str , default = None , help = '<STR_LIT>' ) <EOL> args , unknown = parser . parse_known_args ( ) <EOL> return args <EOL> app = ConsoleApp ( ) <EOL> view = app . createView ( ) <EOL> args = getArgs ( ) <EOL> if args . urdf : <EOL> robotModel = roboturdf . openUrdf ( args . urdf , view ) <EOL> jointNames = robotModel . model . getJointNames ( ) <EOL> jointController = jointcontrol . JointController ( [ robotModel ] , jointNames = jointNames ) <EOL> else : <EOL> robotModel , jointController = roboturdf . loadRobotModel ( '<STR_LIT>' , view ) <EOL> print '<STR_LIT>' , robotModel . getProperty ( '<STR_LIT>' ) <EOL> for joint in robotModel . model . getJointNames ( ) : <EOL> print '<STR_LIT>' , joint <EOL> for link in robotModel . model . getLinkNames ( ) : <EOL> print '<STR_LIT>' , link <EOL> robotModel . getLinkFrame ( link ) <EOL> if app . getTestingInteractiveEnabled ( ) : <EOL> view . show ( ) <EOL> app . start ( ) </s>
