urdf2webots 1.0.1

A converter between URDF and PROTO files.

urdf2webots

This tool converts URDF files into Webots PROTO files.

Install

From pip

pip install urdf2webots

On macOS, export the pip binary path to the PATH: export PATH="/Users/$USER/Library/Python/3.7/bin:$PATH"

From Sources

git clone https://github.com/cyberbotics/urdf2webots.git
cd urdf2webots
pip install -r requirements.txt

Usage

From pip

python -m urdf2webots.importer --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--disable-mesh-optimization]

From Sources

python demo.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--disable-mesh-optimization]

In your Python Code

from urdf2webots.importer import convert2urdf
convert2urdf('MY_PATH/MY_URDF.urd')

Arguments

Outputs: someRobot_textures (folder), someRobot.proto.
Use in Webots: put the outputs in the protos folder of your Webots project.

Notes

This tool have been tested with ur5, pr2, motoman and kinova using Webots R2019a on Ubuntu16.04.
You can find the sources of these URDF files here:

• universal robot: https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description
• pr2 robot: https://github.com/PR2/pr2_common/tree/kinetic-devel/pr2_description
• motoman robot: https://github.com/ros-industrial/motoman/tree/kinetic-devel/motoman_sia20d_support
• kinova robot: https://github.com/Kinovarobotics/kinova-ros/tree/kinetic/kinova_description

Acknowledgement

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.