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https://github.com/cyberbotics/urdf2webots

Utility to convert URDF files to Webots PROTO nodes
https://github.com/cyberbotics/urdf2webots

gazebo robotics robotics-simulation urdf webots

Last synced: 3 days ago
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Utility to convert URDF files to Webots PROTO nodes

Host: GitHub
URL: https://github.com/cyberbotics/urdf2webots
Owner: cyberbotics
License: apache-2.0
Created: 2018-07-05T14:04:29.000Z (over 6 years ago)
Default Branch: master
Last Pushed: 2024-03-19T07:39:12.000Z (8 months ago)
Last Synced: 2024-10-03T20:45:29.860Z (about 1 month ago)
Topics: gazebo, robotics, robotics-simulation, urdf, webots
Language: Python
Size: 114 MB
Stars: 127
Watchers: 32
Forks: 43
Open Issues: 16
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDING.yml
- License: LICENSE

Awesome Lists containing this project

awesome-webots - urdf2webots

README

        # urdf2webots

![Test Status](https://github.com/cyberbotics/urdf2webots/actions/workflows/test.yml/badge.svg)

[![PyPI version](https://badge.fury.io/py/urdf2webots.svg)](https://badge.fury.io/py/urdf2webots)

This tool converts URDF files into Webots PROTO files or into Webots Robot node strings.

Python 3.5 or higher is required.

## 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 --recurse-submodules https://github.com/cyberbotics/urdf2webots.git

pip install --upgrade --editable urdf2webots

```

## Usage

### From pip

```

python -m urdf2webots.importer --input=someRobot.urdf [--output=outputFile] [--normal] [--box-collision] [--tool-slot=linkName] [--help]

```

### Arguments

The script accepts the following arguments:

  - **-h, --help**: Show the help message and exit.

  - **--input=INPUT**: Specifies the URDF file to convert.

  - **--output=OUTPUT**: If set, specifies the path and, if ending in ".proto", name of the resulting PROTO file. The filename minus the .proto extension will be the robot name (for PROTO conversion only).

  - **--robot-name**: Specify the name of the robot and generate a Robot node string instead of a PROTO file (has to be unique).

  - **--normal**: If set, the normals are exported if present in the URDF definition.

  - **--box-collision**: If set, the bounding objects are approximated using boxes.

  - **--tool-slot=LinkName**: Specify the link that you want to add a tool slot to (exact link name from URDF, for PROTO conversion only).

  - **--translation="0 0 0"**: Set the translation field of the PROTO file or Webots Robot node string.

  - **--rotation="0 0 1 0"**: Set the rotation field of the PROTO file or Webots Robot node string.

  - **--init-pos=JointPositions**: Set the initial positions of your robot joints. Example: `--init-pos="[1.2, 0.5, -1.5]"` would set the first 3 joints of your robot to the specified values, and leave the rest with their default value.

  - **--link-to-def**: Creates a DEF with the link name for each solid to be able to access it using getFromProtoDef(defName) (for PROTO conversion only).

  - **--joint-to-def**: Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName) (for PROTO conversion only).

  - **--relative-path-prefix**: If **--input** is not set, the relative paths in your URDF file sent through stdin will use this prefix. For example: `filename="head.obj"` with `--relative-path-prefix="/home/user/myRobot/"` will become `filename="/home/user/myRobot/head.obj"`.

In case the **--input** option is missing, the script will read the URDF content from `stdin`.

In that case, you can pipe the content of your URDF file into the script: `cat my_robot.urdf | urdf2proto.py`.

Relative paths present in your URDF file will be treated relatively to the current directory from which the script is called unless **--relative-path-prefix** is set.

> Previously the **--static-base** argument was supported in order to set the base link to be static (disabled physics). It has been removed as there is a better way to do it by adding the following to your URDF file (assuming **base_link** is the root link of your robot):

>

>```

> 

>

>    

>    

>

>```

### In your Python Code

#### Arguments

The command line arguments available from the terminal are also available from the Python interface, but some have different names:

| Terminal   |      Python      |

|----------|-------------|

| --input |  input |

| --output |  output |

| --robot-name |  robotName |

| --normal |  normal |

| --box-collision |  boxCollision |

| --tool-slot |  toolSlot |

| --translation |  initTranslation |

| --rotation |  initRotation |

| --init-pos |  initPos |

| --link-to-def |  linkToDef |

| --joint-to-def |  jointToDef |

| --relative-path-prefix |  relativePathPrefix |

In Python, you can convert a URDF file by passing its path as an argument to the `convertUrdfFile()` function or directly by passing its content as an argument to the `convertUrdfContent()` function.

#### Convert into Webots PROTO files

```

from urdf2webots.importer import convertUrdfFile

convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf')

```

or

```

import pathlib

from urdf2webots.importer import convertUrdfContent

robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text()

convertUrdfContent(input = robot_description)

```

#### Convert into Webots Robot node strings

```

from urdf2webots.importer import convertUrdfFile

convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf', robotName="myRobot")

```

or

```

import pathlib

from urdf2webots.importer import convertUrdfContent

robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text()

convertUrdfContent(input = robot_description, robotName="myRobot")

```

### In-Depth Tutorial

Check out [this tutorial](./docs/tutorial.md) for a more in-depth, step by step instruction, on how to:

- Generate a URDF file from a ROS repository.

- Convert your URDF file to a Webots PROTO file.

- Load your converted model into Webots and make final adjustments.

- Convert your URDF file to a Webots Robot string and import it.

## Notes

This tool was tested using Webots R2022b on Ubuntu22.04.

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

  - gait2392 human skeleton: https://github.com/cyberbotics/urdf2webots/tree/master/tests/sources/gait2392_simbody

## Acknowledgements



  



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.






  



Supported by OpenDR - Open Deep Learning Toolkit for Robotics.

More information: opendr.eu



This project has received funding from the European Union’s Horizon 2020

research and innovation programme under grant agreement no. 871449.