text: import os
  drc_base_path = os.getenv("DRC_BASE")
  
  import sys
  sys.path.append(os.path.join(drc_base_path, "software", "models",
                               "model_transformation"))
  
  import mitUrdfUtils as mit
  from jointNameMap import jointNameMap
  from lxml import etree
  import tempfile
  from glob import glob
  
  os.chdir(os.path.dirname(os.path.realpath(__file__)))
  
  meshesDirectory = '../meshes'
  
  original_urdf_path = "../multisense_sl_original.urdf"
  urdf_path = "../multisense_sl.urdf"
  no_joint_urdf_path = "../multisense_sl_no_joint.urdf"
  convex_hull_urdf_path = "../multisense_sl_convex_hull.urdf"
  no_collision_urdf_path = "../multisense_sl_no_collision.urdf"
  
  # Convert meshes
  for inFile in glob(os.path.join(meshesDirectory, "*.dae")):
      mit.convertMeshTo(inFile, ".obj")
      mit.convertMeshTo(inFile, ".wrl")
  
  for inFile in glob(os.path.join(meshesDirectory, "*.obj")):
      if "chull" not in inFile:
          mit.createConvexHullMesh(inFile)
  
  for inFile in glob(os.path.join(meshesDirectory, "*.wrl")):
      if "chull" not in inFile:
          mit.createConvexHullMesh(inFile)
  
  # Expand all includes to allow us to appropriately change mesh filenames
  tmp = tempfile.NamedTemporaryFile()
  mit.xacro(original_urdf_path, tmp.name, includes_only=True,
            recursive_includes=True)
  
  # Load urdf
  urdf = etree.parse(tmp.name)
  
  # Replace package:// syntax
  #mit.replacePackageWithPathInMeshPaths(urdf, "../common_components")
  
  # Use MITDRC joint names and .obj meshes
  mit.useObjMeshes(urdf)
  mit.renameJoints(urdf, jointNameMap)
  urdf.write(urdf_path, pretty_print=True)
  
  # Generate no-joint urdf
  mit.weldAllJoints(urdf)
  urdf.write(no_joint_urdf_path, pretty_print=True)
  
  # Generate no-joint, no-collision urdf
  mit.removeAllCollisions(urdf)
  urdf.write(no_collision_urdf_path, pretty_print=True)
  
  # Generate convex hull urdf
  mit.addCollisionsFromVisuals(urdf)
  mit.useConvexHullMeshes(urdf)
  urdf.write(convex_hull_urdf_path, pretty_print=True)
  