A converter between URDF and PROTO files.
Project description
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 using Webots R2020a on Ubuntu16.04 and Windows.
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
- gait2392 human skeleton: https://github.com/cyberbotics/urdf2webots/tree/master/tests/sources/gait2392_simbody
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.
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