how to get urls from a domain directory

I would like to get the urls from an specific domain directory.
Below I have a cod that takes the html from a url.
Actually, I need to do something like that but returning the sub urls.
For example, I sweep http://www.site.com and get http://www.site.com/contact, http://www.site.com/portfolio, http://www.site.com/products, ...

import urllib2
a = urllib2.urlopen('http://www.americanas.com.br/')
html = a.read()
a.close()
print html

Anybody could help me ?
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