fix round_collada_numbers.py by opening files in binary mode

[tbazina]

Description

Minor change to fix round_collada_numbers.py script by opening files for reading and saving in binary mode. No reference issue.

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[rhaschke]

Could you please describe the problem with the current approach? Collada files are text files (XML). So why open them in binary mode?

[tbazina]

When running:
rosrun moveit_kinematics round_collada_numbers.py <file_name>.dae <file_name>_rounded.dae 5

the error traceback is:

Collada Number Rounder
Rounding numbers to 5 decimal places

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/moveit_kinematics/round_collada_numbers.py", line 97, in <module>
    dom = etree.parse(io.BytesIO(xml))
TypeError: a bytes-like object is required, not 'str'

Per io documentation (https://docs.python.org/3/library/io.html#binary-i-o), "the easiest way to create a binary stream is with open() with 'b' in the mode string". After the fix, the script works fine.

[codecov]

Codecov Report

Merging #2983 (923cc88) into master (fd36674) will increase coverage by 0.08%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2983      +/-   ##
==========================================
+ Coverage   61.55%   61.63%   +0.08%     
==========================================
  Files         370      370              
  Lines       33145    33145              
==========================================
+ Hits        20399    20425      +26     
+ Misses      12746    12720      -26     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.28% <0.00%> (+0.38%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	74.69% <0.00%> (+0.64%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	73.56% <0.00%> (+1.66%)	⬆️
..._interface/src/detail/constrained_goal_sampler.cpp	76.48% <0.00%> (+1.97%)	⬆️
moveit_core/robot_model/src/joint_model_group.cpp	64.15% <0.00%> (+2.28%)	⬆️
...e/src/parameterization/model_based_state_space.cpp	72.68% <0.00%> (+3.11%)	⬆️
.../ompl_interface/src/detail/constrained_sampler.cpp	60.98% <0.00%> (+17.08%)	⬆️

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[rhaschke]

Thanks for the explanation. I added another cleanup commit and tested on both, python2 and python3.

[tbazina]

Great, thank you for the additional cleanup. Everything seems to be working now.

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!