examples: update some cs through ugly xml manipulation

examples/update_xml.py

+#!/usr/bin/env python
+"""
+convert objects xml-exported with pinocchio < 2.6.0
+into objects xml-importables with pinocchio >= 2.6.0
+then import that from multicontact-api
+and re-export as binary
+"""
+
+from pathlib import Path
+
+import multicontact_api
+
+DEL_BOTH = [
+    'c_init',
+    'dc_init',
+    'ddc_init',
+    'L_init',
+    'dL_init',
+    'c_final',
+    'dc_final',
+    'ddc_final',
+    'L_final',
+    'dL_final',
+]
+
+DEL_COLS = DEL_BOTH + [
+    'q_init',
+    'q_final',
+]
+
+DEL_ROWS = DEL_BOTH + ['contact_points_positions']
+
+
+def update_xml(f: Path) -> Path:
+    prev = ""
+    updated = f.parent / f"updated_{f.name}"
+    with f.open() as f_in, updated.open("w") as f_out:
+        for line in f_in:
+            if line.strip().startswith("<rows>"):
+                if prev in DEL_ROWS:
+                    continue
+            elif line.strip().startswith("<cols>"):
+                if prev in DEL_COLS:
+                    continue
+            else:
+                if strip := line.strip(" \t\n<>"):
+                    prev = strip.split()[0]
+            print(line, end="", file=f_out)
+    return updated
+
+
+def xml_to_bin(f: Path) -> Path:
+    updated = f.parent / f"{f.stem}.cs"
+    cs = multicontact_api.ContactSequence()
+    cs.loadFromXML(str(f), "nimp")
+    cs.saveAsBinary(str(updated))
+    return updated
+
+
+if __name__ == '__main__':
+    for f in Path().glob("*.xml"):
+        print(f"updtaing {f}...")
+        try:
+            new_xml = update_xml(f)
+            new_bin = xml_to_bin(new_xml)
+            print(f"{f} updated into {new_bin}")
+        except RuntimeError as e:
+            print(f"ERROR on {f}: {e}")