#将urdf文件转化为webots格式
from urdf2webots.importer import convert2urdf
convert2urdf('G:\\四足机器人\\小双足\\模型\\test_T\\urdf\\test_T.urdf')
optParser = optparse.OptionParser(usage='usage: %prog --input=my_robot.urdf [options]')
optParser.add_option('--input', dest='inFile', default='', help='Specifies the urdf file to convert.')
optParser.add_option('--output', dest='outFile', default='', help='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.')
optParser.add_option('--normal', dest='normal', action='store_true', default=False,
help='If set, the normals are exported if present in the URDF definition.')
optParser.add_option('--box-collision', dest='boxCollision', action='store_true', default=False,
help='If set, the bounding objects are approximated using boxes.')
optParser.add_option('--disable-mesh-optimization', dest='disableMeshOptimization', action='store_true', default=False,
help='If set, the duplicated vertices are not removed from the meshes (this can speed up a lot the '
'conversion).')
optParser.add_option('--multi-file', dest='enableMultiFile', action='store_true', default=False,
help='If set, the mesh files are exported as separated PROTO files')
optParser.add_option('--static-base', dest='staticBase', action='store_true', default=False,
help='If set, the base link will have the option to be static (disable physics)')
optParser.add_option('--tool-slot', dest='toolSlot', default=None,
help='Specify the link that you want to add a tool slot too (exact link name from urdf)')
optParser.add_option('--rotation', dest='initRotation', default='0 1 0 0',
help='Set the rotation field of your PROTO file.')
optParser.add_option('--init-pos', dest='initPos', default=None,
help='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.')
optParser.add_option('--link-to-def', dest='linkToDef', action='store_true', default=False,
help='If set, urdf link names are also used as DEF names as well as solid names.')
optParser.add_option('--joint-to-def', dest='jointToDef', action='store_true', default=False,
help='If set, urdf joint names are also used as DEF names as well as joint names.')
options, args = optParser.parse_args()
convert2urdf(options.inFile, options.outFile, options.normal, options.boxCollision, options.disableMeshOptimization,
options.enableMultiFile, options.staticBase, options.toolSlot, options.initRotation, options.initPos, options.linkToDef, options.jointToDef)
default='',
help='Specifies the urdf file to convert.')
optParser.add_option('--output',
dest='outFile',
default='',
help='Specifies the name of the resulting PROTO file.')
optParser.add_option(
'--normal',
dest='normal',
action='store_true',
default=False,
help='If set, the normals are exported if present in the URDF definition.')
optParser.add_option(
'--box-collision',
dest='boxCollision',
action='store_true',
default=False,
help='If set, the bounding objects are approximated using boxes.')
optParser.add_option(
'--disable-mesh-optimization',
dest='disableMeshOptimization',
action='store_true',
default=False,
help=
'If set, the duplicated vertices are not removed from the meshes (this can speed up a lot the conversion).'
)
options, args = optParser.parse_args()
convert2urdf(options.inFile, options.outFile, options.normal,
options.boxCollision, options.disableMeshOptimization)
def main(args=None, input=None):
parser = argparse.ArgumentParser(
usage='usage: %prog --input=my_robot.urdf [options]')
parser.add_argument('--input',
dest='inFile',
default='',
help='Specifies the urdf file to convert.')
parser.add_argument('--output',
dest='outFile',
default='',
help='Specifies the name of the resulting PROTO file.')
parser.add_argument('--normal',
dest='normal',
action='store_true',
default=False,
help='If set, the normals are exported if defined.')
parser.add_argument(
'--box-collision',
dest='boxCollision',
action='store_true',
default=False,
help='If set, the bounding objects are approximated using boxes.')
parser.add_argument(
'--disable-mesh-optimization',
dest='disableMeshOptimization',
action='store_true',
default=False,
help='If set, the duplicated vertices are not removed from the meshes.'
)
# use 'parse_known_args' because ROS2 adds a lot of internal arguments
arguments, unknown = parser.parse_known_args()
file = os.path.abspath(input) if input is not None else os.path.abspath(
arguments.inFile)
if not file:
sys.exit(
'Input file not specified (should be specified with the "--input" argument).'
)
if not os.path.isfile(file):
sys.exit('"%s" file does not exist.' % arguments.inFile)
elif not file.endswith('.urdf'):
sys.exit('"%s" is not an urdf file.' % file)
content = ''
with open(file, 'r') as f:
content = f.read()
# look for package-relative file path and replace them
urdfFile = file
generatedFile = False
packages = re.findall('filename="package:\/\/([^\/]*)', content)
for package in set(packages): # do the replacement
packagePath = ''
try:
packagePath = get_package_share_directory(package)
except LookupError:
sys.exit(
'This urdf depends on the "%s" package, but this package could not be found'
% package)
content = content.replace('package://%s' % package, '%s' % packagePath)
if packages: # some package-relative file paths have been found
# generate a temporary file with the replacement content
urdfFile = tempfile.mkstemp(suffix='.urdf')[1]
generatedFile = True
with open(urdfFile, 'w') as f:
f.write(content)
convert2urdf(inFile=urdfFile,
outFile=arguments.outFile,
normal=arguments.normal,
boxCollision=arguments.boxCollision,
disableMeshOptimization=arguments.disableMeshOptimization)
# remove temporary file
if generatedFile:
os.remove(urdfFile)
def main(args=None, input=None):
parser = argparse.ArgumentParser(
usage='usage: %prog --input=my_robot.urdf [options]')
parser.add_argument('--input',
dest='inFile',
default='',
help='Specifies the urdf file to convert.')
parser.add_argument('--output',
dest='outFile',
default='',
help='Specifies the name of the resulting PROTO file.')
parser.add_argument('--normal',
dest='normal',
action='store_true',
default=False,
help='If set, the normals are exported if defined.')
parser.add_argument(
'--box-collision',
dest='boxCollision',
action='store_true',
default=False,
help='If set, the bounding objects are approximated using boxes.')
parser.add_argument(
'--disable-mesh-optimization',
dest='disableMeshOptimization',
action='store_true',
default=False,
help='If set, the duplicated vertices are not removed from the meshes.'
)
parser.add_argument(
'--multi-file',
dest='enableMultiFile',
action='store_true',
default=False,
help='If set, the mesh files are exported as separated PROTO files')
parser.add_argument(
'--static-base',
dest='staticBase',
action='store_true',
default=False,
help=
'If set, the base link will have the option to be static (disable physics)'
)
parser.add_argument(
'--tool-slot',
dest='toolSlot',
default=None,
help=
'Specify the link that you want to add a tool slot to (exact link name from urdf)'
)
parser.add_argument('--rotation',
dest='initRotation',
default='0 1 0 0',
help='Set the rotation field of your PROTO file.)')
parser.add_argument(
'--init-pos',
dest='initPos',
default=None,
help='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.')
# use 'parse_known_args' because ROS2 adds a lot of internal arguments
arguments, _ = parser.parse_known_args()
file = os.path.abspath(input) if input is not None else os.path.abspath(
arguments.inFile)
if not file:
sys.exit(
'Input file not specified (should be specified with the "--input" argument).'
)
if not os.path.isfile(file):
sys.exit('"%s" file does not exist.' % arguments.inFile)
elif not file.endswith('.urdf'):
sys.exit('"%s" is not an urdf file.' % file)
content = ''
with open(file, 'r') as f:
content = f.read()
# look for package-relative file path and replace them
urdf_file = file
generated_file = False
packages = re.findall(r'filename="package:\/\/([^\/]*)', content)
for package in set(packages): # do the replacement
package_path = ''
try:
package_path = get_package_share_directory(package)
except LookupError:
sys.exit(
'This urdf depends on the "%s" package, but this package could not be found'
% package)
content = content.replace('package://%s' % package,
'%s' % package_path)
if packages: # some package-relative file paths have been found
# generate a temporary file with the replacement content
urdf_file = tempfile.mkstemp(suffix='.urdf')[1]
generated_file = True
with open(urdf_file, 'w') as f:
f.write(content)
convert2urdf(inFile=urdf_file,
outFile=arguments.outFile,
normal=arguments.normal,
boxCollision=arguments.boxCollision,
disableMeshOptimization=arguments.disableMeshOptimization,
enableMultiFile=arguments.enableMultiFile,
staticBase=arguments.staticBase,
toolSlot=arguments.toolSlot,
initRotation=arguments.initRotation,
initPos=arguments.initPos)
# remove temporary file
if generated_file:
os.remove(urdf_file)