4/5/2023 0 Comments Webots python![]() 871449.Webots is a professional robot simulator widely used for educational purposes. Research and innovation programme under grant agreement no. Supported by OpenDR - Open Deep Learning Toolkit for Robotics. ![]() This project has received funding from the European Union’s Horizon 2020 Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. You can find the sources of these URDF files here: This tool was tested using Webots R2022b on Ubuntu22.04. Convert your URDF file to a Webots Robot string and import it.Load your converted model into Webots and make final adjustments.Convert your URDF file to a Webots PROTO file.Generate a URDF file from a ROS repository.Robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text()ĬonvertUrdfContent(input = robot_description)Ĭonvert into Webots Robot node strings from urdf2webots.importer import convertUrdfFileĬonvertUrdfFile(input = 'MY_PATH/MY_URDF.urdf', robotName="myRobot")ĬonvertUrdfContent(input = robot_description, robotName="myRobot")Ĭheck out this tutorial for a more in-depth, step by step instruction, on how to: Convert into Webots PROTO files from urdf2webots.importer import convertUrdfFileĬonvertUrdfFile(input = 'MY_PATH/MY_URDF.urdf')įrom urdf2webots.importer import convertUrdfContent 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. The command line arguments available from the terminal are also available from the Python interface, but some have different names: Terminal 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): Previously the -static-base argument was supported in order to set the base link to be static (disabled physics). 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. In that case, you can pipe the content of your URDF file into the script: cat my_robot.urdf | urdf2proto.py. In case the -input option is missing, the script will read the URDF content from stdin. ![]() For example: filename="head.obj" with -relative-path-prefix="/home/user/myRobot/" will become filename="/home/user/myRobot/head.obj".
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