text: '''
  Application : Envision
  File name   : model.py
  Authors     : Jacob Summerville and Safwan Elmadani
  Description : This file contains is used to include models
  '''
  
  # Copyright (c) April 26, 2021 Jacob Summerville and Safwan Elmadani
  # All rights reserved.
  #
  # The license below extends only to copyright in the software and shall
  # not be construed as granting a license to any other intellectual
  # property including but not limited to intellectual property relating
  # to a hardware implementation of the functionality of the software
  # licensed hereunder.  You may use the software subject to the license
  # terms below provided that you ensure that this notice is replicated
  # unmodified and in its entirety in all distributions of the software,
  # modified or unmodified, in source code or in binary form.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are
  # met: redistributions of source code must retain the above copyright
  # notice, this list of conditions and the following disclaimer;
  # redistributions in binary form must reproduce the above copyright
  # notice, this list of conditions and the following disclaimer in the
  # documentation and/or other materials provided with the distribution;
  # neither the name of the copyright holders nor the names of its
  # contributors may be used to endorse or promote products derived from
  # this software without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  # A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  # OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  # SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  # LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  # DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  # THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  from xml.dom import minidom 
  import os, logging
  
  from src.config.settings import config
  
  class Model:
      """ This class is used to include models """
  
      def __init__(self):
          self.root  = config.root
          self.world = config.world
  
      def TextTag(self, parent, name, text):
          """ Creates a text tag and adds it to the parent """
  
          tag = self.root.createElement(name)
          tag_text = self.root.createTextNode(text) 
          tag.appendChild(tag_text)
          parent.appendChild(tag) 
  
      def AddModel(self, model, pose=None, name=None, static=None):
          """ Add a model to the world """
  
          logging.info('Adding Model -> ' + model)
  
          include = self.root.createElement('include')
          self.TextTag(include, 'uri', 'model://' + model) 
  
          if pose:
              self.TextTag(include, 'pose', pose) 
  
          if name:
              self.TextTag(include, 'name', name) 
  
          if static:
              self.TextTag(include, 'static', static) 
  
          self.world.appendChild(include)