def convert_to_enu(filename):
world = WebotsParser()
world.load(filename)
for node in world.content['root']:
if node['name'] == 'WorldInfo':
for field in node['fields']:
if field['name'] == 'coordinateSystem':
# remove the 'coordinateSystem ENU'
del node['fields'][node['fields'].index(field)]
elif node['name'] not in [
'Viewpoint', 'TexturedBackground', 'TexturedBackgroundLight'
]:
print('Rotating', node['name'])
rotation_found = False
for field in node['fields']:
if field['name'] in ['rotation']:
rotation_found = True
field['value'] = rotation(field['value'],
[1, 0, 0, 0.5 * math.pi])
elif field['name'] in ['translation']:
field['value'] = [
field['value'][0],
str(-float(field['value'][2])), field['value'][1]
]
if not rotation_found:
node['fields'].append({
'name':
'rotation',
'value': ['1', '0', '0', str(0.5 * math.pi)],
'type':
'SFRotation'
})
world.save(filename)
def convert_to_nue(filename):
world = WebotsParser()
world.load(filename)
for node in world.content['root']:
if node['name'] == 'WorldInfo':
is_nue = False
for field in node['fields']:
if field['name'] == 'northDirection':
assert field['value'] == ['0', '0', '1']
# remove the 'northDirection 0 0 1'
del node['fields'][node['fields'].index(field)]
if field['name'] == 'coordinateSystem':
field['value'] = 'NUE'
is_nue = True
if not is_nue:
node['fields'].append({
'name': 'coordinateSystem',
'value': 'NUE',
'type': 'SFString'
})
elif node['name'] not in [
'Viewpoint', 'TexturedBackground', 'TexturedBackgroundLight'
]:
print('Rotating', node['name'])
rotation_found = False
for field in node['fields']:
if field['name'] in ['rotation']:
rotation_found = True
field['value'] = rotation(field['value'],
[0, 1, 0, 0.5 * math.pi])
elif field['name'] in ['translation']:
field['value'] = [
field['value'][2], field['value'][1],
str(-float(field['value'][0]))
]
if not rotation_found:
node['fields'].append({
'name':
'rotation',
'value': ['0', '1', '0', str(0.5 * math.pi)],
'type':
'SFRotation'
})
world.save(filename)
def convert_to_nue(filename):
world = WebotsParser()
world.load(filename)
for node in world.content['root']:
if node['name'] == 'WorldInfo':
for field in node['fields']:
if field['name'] == 'gravity':
gravity = float(field['value'][1])
if gravity != 0:
gravity = -gravity
field['value'] = WebotsParser.str(gravity)
field['type'] = 'SFFloat'
if field[
'name'] == 'coordinateSystem': # world file already updated
return
node['fields'].append({
'name': 'coordinateSystem',
'value': 'NUE',
'type': 'SFString'
})
elif node['name'] in converted_protos:
print('Rotating', node['name'])
rotation_found = False
for field in node['fields']:
if field['name'] in ['rotation']:
rotation_found = True
field['value'] = rotation(field['value'],
converted_protos[node['name']])
if not rotation_found:
node['fields'].append({
'name':
'rotation',
'value':
rotation(['0', '1', '0', '0'],
converted_protos[node['name']]),
'type':
'SFRotation'
})
world.save(filename)