cyberbotics · Simon-Steinmann · Aug 21, 2020 · Aug 21, 2020 · Aug 21, 2020 · Aug 24, 2020
diff --git a/batch_conversion.py b/batch_conversion.py
@@ -0,0 +1,254 @@
+#!/usr/bin/env python
+
+"""URDF files to Webots PROTO converter."""
+
+import optparse
+import datetime
+import os
+import shutil
+import json
+import math
+# from urdf2webots.importer import convert2urdf
+import urdf2webots.importer as importer
+from copy import deepcopy
+
+# Set Override = True if you want to override ALL config settings with the
+# value in the OverrideCfg. This can be usefull for testing functionality
+# quickly, and then doing a slow optimized conversion
+Override = False
+OverrideCfg = {
+ 'disableMeshOptimization': False
+}
+
+# This defines the default config. If a urdf model doesnt have a config, one
+# will created after this. If the importer.py is updated, so should this to
+# add the additional functionality-
+default_config = {
+ # outFile will get constructed with protosPath + robotName + '.proto'
+ 'robotName': None,
+ 'normal': False,
+ 'boxCollision': True,
+ 'disableMeshOptimization': True,
+ 'enableMultiFile': True,
+ 'staticBase': True,
+ 'toolSlot': None,
+ 'initRotation': "1 0 0 -1.5708"
+}
+
+
+class batchConversion():
+ def __init__(self, sourcePath, outPath):
+ self.urdf2webots_path = os.path.dirname(os.path.abspath(__file__))
+ # create a unique path for a new batch-conversion
+ today = datetime.date.today()
+ todaystr = today.isoformat()
+ self.protoTargetDir = outPath + '/protos_' + todaystr
+ n = 2
+ while os.path.exists(self.protoTargetDir):
+ while os.path.exists(self.protoTargetDir + '_Nr-' + str(n)):
+ n += 1
+ self.protoTargetDir = self.protoTargetDir + '_Nr-' + str(n)
+
+ # Find all the urdf files, and create the corresponding proto filePaths
+ urdf_root_dir = sourcePath # 'automatic_conversion/urdf'
+ os.chdir(urdf_root_dir)
+ # Walk the tree.
+ self.urdf_files = [] # List of the full filepaths.
+ self.protosPaths = []
+ for root, directories, files in os.walk('./'):
+ for filename in files:
+ # Join the two strings in order to form the full filepath.
+ if filename.endswith(".urdf"):
+ filepath = os.path.join(root, filename)
+ filepath = filepath[1:]
+ self.urdf_files.append(urdf_root_dir + filepath)
+ self.protosPaths.append(self.protoTargetDir + os.path.dirname(filepath) + '/')
+ os.chdir(self.urdf2webots_path)
+
+ # Report dict we can print at the end
+ self.EndReportMessage = {
+ 'updateConfigs': [],
+ 'newConfigs': [],
+ 'converted': [],
+ 'failed': []
+ }
+
+ def update_and_convert(self):
+ # Make sure all configs exist and are up to date, then convert all URDF files
+ self.check_all_configs()
+ self.convert_all_urdfs()
+ self.print_end_report()
+
+ def create_proto_dir(self):
+ # create a new unique directory for our conversions
+ print(self.protoTargetDir)
+ os.makedirs(self.protoTargetDir)
+
+ def replace_ExtraProjectPath(self):
+ # this copies the converted files and puts them in the "automatic_conversion/ExtraProjectTest" directory
+ # This path can be added to webots, so we can test each new conversion, without having to adjust the Path
+ # every time
+ destination = os.path.dirname(self.protoTargetDir) + '/ExtraProjectTest'
+ if os.path.isfile(destination) or os.path.islink(destination):
+ os.remove(destination) # remove the file
+ elif os.path.isdir(destination):
+ shutil.rmtree(destination) # remove dir and all contains
+ shutil.copytree(self.protoTargetDir, destination)
+
+ def update_config(self, configFile, config=None):
+ # makes sure the existing configs are in the same format as the default. Existing options are conserved
+ new_config = deepcopy(default_config)
+ for key in new_config.keys():
+ try:
+ new_config[key] = config[key]
+ except:
+ pass
+ with open(configFile, 'w') as outfile:
+ json.dump(new_config, outfile, indent=4, sort_keys=True)
+
+ def check_all_configs(self):
+ # makes sure ever URDF file has a config and it is up do date
+ print('Checking config files...')
+ print('---------------------------------------')
+ for i in range(len(self.urdf_files)):
+ configFile = os.path.splitext(self.urdf_files[i])[0] + '.json'
+ try:
+ with open(configFile) as json_file:
+ config = json.load(json_file)
+ if config.keys() != default_config.keys():
+ print('Updating config (old settings will be carried over) - ', configFile)
+ self.EndReportMessage['updateConfigs'].append(configFile)
+ update_config(configFile, config)
+ else:
+ print('Config up to date - ', configFile)
+ except:
+ print('Generating new config for - ' + os.path.splitext(self.urdf_files[i])[0])
+ self.EndReportMessage['newConfigs'].append(configFile)
+ update_config(configFile)
+
+ def convert_all_urdfs(self):
+ # convertes all URDF files according to their .json config files
+ self.create_proto_dir()
+ print('---------------------------------------')
+ print('Converting URDF to PROTO...')
+ print('---------------------------------------')
+ print('---------------------------------------')
+ for i in range(len(self.urdf_files)):
+ # clears any previous Geometry and Material references, so there is no conflict
+ importer.urdf2webots.parserURDF.Geometry.reference = {}
+ importer.urdf2webots.parserURDF.Material.namedMaterial = {}
+ configFile = os.path.splitext(self.urdf_files[i])[0] + '.json'
+ print('---------------------------------------')
+ print('Converting: ', self.urdf_files[i])
+ print('---------------------------------------')
+ try:
+ with open(configFile) as json_file:
+ config = json.load(json_file)
+ importer.convert2urdf(
+ inFile=self.urdf_files[i],
+ outFile=self.protosPaths[i] if not config['robotName'] else self.protosPaths[i] + config['robotName'] + '.proto',
+ normal=config['normal'],
+ boxCollision=config['boxCollision'],
+ disableMeshOptimization=OverrideCfg['disableMeshOptimization'] if Override else config['disableMeshOptimization'],
+ enableMultiFile=config['enableMultiFile'],
+ staticBase=config['staticBase'],
+ toolSlot=config['toolSlot'],
+ initRotation=config['initRotation'])
+ self.EndReportMessage['converted'].append(self.urdf_files[i])
+ except Exception as e:
+ print(e)
+ self.EndReportMessage['failed'].append(self.urdf_files[i])
+ print('---------------------------------------')
+
+ def print_end_report(self):
+ # print the Report
+ print('---------------------------------------')
+ print('------------End Report-----------------')
+ print('---------------------------------------')
+ print('Configs updated:')
+ print('---------------------------------------')
+ for config in self.EndReportMessage['updateConfigs']:
+ print(config)
+ print('---------------------------------------')
+ print('Configs created:')
+ print('---------------------------------------')
+ for config in self.EndReportMessage['newConfigs']:
+ print(config)
+ print('---------------------------------------')
+ print('Successfully converted URDF files:')
+ print('---------------------------------------')
+ for urdf in self.EndReportMessage['converted']:
+ print(urdf)
+ if len(self.EndReportMessage['failed']) > 0:
+ print('---------------------------------------')
+ print('Failedd URDF conversions:')
+ print('---------------------------------------')
+ for urdf in self.EndReportMessage['failed']:
+ print(urdf)
+
+ def create_test_world(self, spacing=3):
+ n_models = len(self.urdf_files)
+ n_row = math.ceil(n_models ** 0.5) # round up the sqrt of the number of models
+ grid_size = spacing * (n_row + 1)
+ projectDir = os.path.dirname(self.protoTargetDir) + '/ExtraProjectTest/TestAllRobots.wbt'
+ worldFile = open(projectDir, 'w')
+ worldFile.write('#VRML_SIM R2020b utf8\n')
+ worldFile.write('\n')
+ worldFile.write('WorldInfo {\n')
+ worldFile.write(' basicTimeStep 16\n')
+ worldFile.write(' coordinateSystem "NUE"\n')
+ worldFile.write('}\n')
+ worldFile.write('Viewpoint {\n')
+ worldFile.write(' orientation 0.7180951961816571 -0.6372947429425837 -0.27963315225232777 5.235063704863283\n')
+ worldFile.write(' position 1.9410928989638234 2.447392518518642 1.7311802992777219\n')
+ worldFile.write('}\n')
+ worldFile.write('TexturedBackground {\n')
+ worldFile.write('}\n')
+ worldFile.write('TexturedBackgroundLight {\n')
+ worldFile.write('}\n')
+ worldFile.write('RectangleArena {\n')
+ worldFile.write(' floorSize ' + str(grid_size) + ' ' + str(grid_size) + '\n')
+ worldFile.write(' floorTileSize 0.25 0.25\n')
+ worldFile.write(' wallHeight 0.05\n')
+ worldFile.write('}\n')
+ filenames = [] # List which will store all of the full filepaths.
+ row = 0
+ column = 1
+ for root, directories, files in os.walk(os.path.dirname(projectDir)):
+ for filename in files:
+ # Join the two strings in order to form the full filepath.
+ if filename.endswith(".proto"):
+ filepath = os.path.join(root, filename)
+ if os.path.dirname(filepath).split('_')[-1] != 'meshes':
+ name = os.path.splitext(os.path.basename(filename))[0]
+ if row == n_row:
+ column += 1
+ row = 0
+ row += 1
+ # add the model to the world file with translation to be spaced in a grid
+ worldFile.write(name + ' {\n')
+ worldFile.write(' translation ' + str(column * spacing - grid_size / 2) + ' 0 ' + str(row * spacing - grid_size / 2) + '\n')
+ worldFile.write('}\n')
+ worldFile.close()
+ os.chdir(self.urdf2webots_path)
+
+
+if __name__ == '__main__':
+ optParser = optparse.OptionParser(usage='usage: %prog [options]')
+ optParser.add_option('--input', dest='sourcePath', default='', help='Specifies the urdf file to convert.')
+ optParser.add_option('--output', dest='outPath', 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('--force-mesh-optimization', dest='forceMesh', action='store_true', default=False, help='Set if mesh-optimization should be turned on for all conversions. This will take much longer!')
+ optParser.add_option('--no-project-override', dest='extraProj', action='store_true', default=False, help='Set if new conversions should NOT replace existing ones in "automatic_conversion/ExtraProjectTest".')
+ optParser.add_option('--update-cfg', dest='cfgUpdate', action='store_true', default=False, help='No conversion. Only updates or creates .json config for every URDF file in "automatic_conversion/urdf".')
+
+ options, args = optParser.parse_args()
+ bc = batchConversion(options.sourcePath, options.outPath)
+ Override = options.forceMesh
+ if options.cfgUpdate:
+ bc.check_all_configs()
+ else:
+ bc.update_and_convert()
+ if not options.extraProj:
+ bc.replace_ExtraProjectPath()
+ bc.create_test_world()
diff --git a/tests/expected/Human.proto b/tests/expected/Human.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the Human
-# Extracted from: /home/david/urdf2webots/tests/sources/gait2392_simbody/urdf/human.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/gait2392_simbody/urdf/human.urdf
 
 PROTO Human [
  field SFVec3f translation 0 0 0

diff --git a/tests/expected/MotomanSia20d.proto b/tests/expected/MotomanSia20d.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the MotomanSia20d
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d [
  field SFVec3f translation 0 0 0

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_BMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_BMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_BMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_EMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_EMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_EMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_LMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_LMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_LMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_RMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_RMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_RMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_SMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_SMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_SMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_TMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_TMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_TMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_UMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_AXIS_UMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_AXIS_UMesh [
 ]

diff --git a/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_BASEMesh.proto b/tests/expected/MotomanSia20d_meshes/MotomanSia20d_MOTOMAN_BASEMesh.proto
@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # tags: hidden
-# Extracted from: /home/david/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
+# Extracted from: /home/travis/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
 
 PROTO MotomanSia20d_MOTOMAN_BASEMesh [
 ]

diff --git a/urdf2webots/writeProto.py b/urdf2webots/writeProto.py
@@ -155,10 +155,9 @@ def URDFLink(proto, link, level, parentList, childList, linkList, jointList, sen
  proto.write((level + 1) * indent + 'physics Physics {\n')
  proto.write((level + 2) * indent + 'density -1\n')
  proto.write((level + 2) * indent + 'mass %lf\n' % link.inertia.mass)
- if link.inertia.position != [0.0, 0.0, 0.0]:
- proto.write((level + 2) * indent + 'centerOfMass [ %lf %lf %lf ]\n' % (link.inertia.position[0],
- link.inertia.position[1],
- link.inertia.position[2]))
+ proto.write((level + 2) * indent + 'centerOfMass [ %lf %lf %lf ]\n' % (link.inertia.position[0],
+ link.inertia.position[1],
+ link.inertia.position[2]))
  if link.inertia.ixx > 0.0 and link.inertia.iyy > 0.0 and link.inertia.izz > 0.0:
  i = link.inertia
  inertiaMatrix = [i.ixx, i.ixy, i.ixz, i.ixy, i.iyy, i.iyz, i.ixz, i.iyz, i.izz]
@@ -503,8 +502,8 @@ def URDFShape(proto, link, level, normal=False):
  if name is None:
  if visualNode.geometry.name is not None:
  name = computeDefName(visualNode.geometry.name)
- if visualNode.geometry.defName is None:
-  name = robotNameMain + '_' + name if robotNameMain else name
+ name = robotNameMain + '_' + name if robotNameMain else name
+ if visualNode.geometry.defName is None: 
  print('Create meshFile: %sMesh.proto' % name)
  filepath = '%s/%sMesh.proto' % (meshFilesPath, name)
  meshProtoFile = open(filepath, 'w')