From 27b8efbf3ff10f5bb08196dfb238d675b0b4e4f2 Mon Sep 17 00:00:00 2001
From: ban-masa <bando@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 16 Mar 2023 17:52:07 +0900
Subject: [PATCH] fixed some scripts for python3

---
 euscollada/scripts/add_sensor_to_collada.py | 6 +++---
 euscollada/scripts/parseColladaBase.py      | 8 ++++----
 euscollada/scripts/replace_library_nodes.py | 4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/euscollada/scripts/add_sensor_to_collada.py b/euscollada/scripts/add_sensor_to_collada.py
index 465a30ee1..517c2264f 100755
--- a/euscollada/scripts/add_sensor_to_collada.py
+++ b/euscollada/scripts/add_sensor_to_collada.py
@@ -5,9 +5,9 @@
 import xml.dom
 import yaml
 import argparse
+import importlib
 
-reload(sys)
-sys.setdefaultencoding('utf-8')
+importlib.reload(sys)
 
 from parseColladaBase import parseXmlBase
 from parseColladaBase import yamlParser
@@ -47,7 +47,7 @@
             sys.stderr.write('no configuration file !\n')
 
         if args.output:
-            f = open(args.output, 'wb')
+            f = open(args.output, 'w')
             obj.writeDocument(f)
             f.close()
         else:
diff --git a/euscollada/scripts/parseColladaBase.py b/euscollada/scripts/parseColladaBase.py
index 55a046c33..11cf878c9 100755
--- a/euscollada/scripts/parseColladaBase.py
+++ b/euscollada/scripts/parseColladaBase.py
@@ -8,8 +8,8 @@
 
 import tf
 
-reload(sys)
-sys.setdefaultencoding('utf-8')
+import importlib
+importlib.reload(sys)
 
 #### >>> copied from xacro/src/xacro.py
 # Better pretty printing of xml
@@ -22,7 +22,7 @@ def fixed_writexml(self, writer, indent="", addindent="", newl=""):
 
     attrs = self._get_attributes()
     a_names = attrs.keys()
-    a_names.sort()
+    sorted(a_names)
 
     for a_name in a_names:
         writer.write(" %s=\"" % a_name)
@@ -115,7 +115,7 @@ def parseTranslate (self, translate):
     def parseRotate (self, rotate):
         if not rotate:
             return '0 0 1 0'
-        if isinstance(rotate, basestring):
+        if isinstance(rotate, str):
             rotate = self.StringToList(rotate)
         q = tf.transformations.quaternion_about_axis(math.radians(rotate[3]), rotate[:3])
         rpy = tf.transformations.euler_from_quaternion(q)
diff --git a/euscollada/scripts/replace_library_nodes.py b/euscollada/scripts/replace_library_nodes.py
index 4453b8a3c..0a4347ccd 100755
--- a/euscollada/scripts/replace_library_nodes.py
+++ b/euscollada/scripts/replace_library_nodes.py
@@ -4,8 +4,8 @@
 from xml.dom.minidom import parse, parseString
 import xml.dom
 
-reload(sys)
-sys.setdefaultencoding('utf-8')
+import importlib
+importlib.reload(sys)
 
 from parseColladaBase import replaceLibraryNode