Webots URDF

This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots

Install

git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage

python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]

Outputs: someRobot_textures (folder), someRobot.proto.
Use in Webots: put the outputs in the protos folder of your Webots project.

Notes

This tool have been tested with ur5, pr2, motoman and kinova using Webots R2019a on Ubuntu16.04.
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

TODO

• comment the code and make it more pythonic
• parse proto file and write urdf file
• test proto2urdf parser