Comments (4)
That's feasible on the importer side this should be easy to support. But on the URDF side, this will differ from the norm and create non-standard URDF file, this might be problematic when you then want to use your URDF file with something else than the importer, right?
from urdf2webots.
Unknown elements seem to be ignored. Now we have items like this in our urdf:
<gazebo reference="left_track_link">
<material>Gazebo/Black</material>
</gazebo>
And I just tested if I created a <webots>
element and nobody complained :).
Ideally it can reference links/joints so we can keep the webots.urdf file seperate from the rest of the implementation.
from urdf2webots.
Ok, that makes sense indeed, adding a <webots>
tag seems fine.
Then would something like this be fine?
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="myfile.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="myfile.stl" />
</geometry>
</collision>
<webots>
<node name="NodeName">
<field name="translation" value="0 0 0"/>
<field name="rotation" value="0 1 0 0"/>
</proto>
</webots>
</link>
If you have any other ideas in mind do not hesitate to make some proposition.
from urdf2webots.
I think that is already a good proposal!
But it also 'clutters' the urdf file for normal operations.
In addition to the above this would also be nice:
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="myfile.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="myfile.stl" />
</geometry>
</collision>
</link>
<!-- Somewhere else in an include file: -->
<webots reference="wrist_3_link">
<node name="NodeName">
<field name="translation" value="0 0 0"/>
<field name="rotation" value="0 1 0 0"/>
</proto>
</webots>
(But we're already happy with your proposal)
from urdf2webots.
Related Issues (20)
- How to reflect meshes loaded from files? HOT 3
- Single appearance feature for meshfiles overwrites mesh scaling HOT 7
- Webots does neither use color nor textures from wavefront (.obj) files HOT 13
- NameError: global name 'PackageNotFoundError' is not defined HOT 10
- Base link is missing physics element that breaks Gyro node use HOT 8
- Question: when will the mesh scaling fix be included in the release? HOT 1
- Empty textures folder problem with URDF to PROTO conversion HOT 2
- Converter prunes URDF branches of sensors HOT 3
- Question: Update rate of sensor HOT 4
- Geometry.reference database does not consider scaling option HOT 2
- Mesh of base is not rendered HOT 6
- SliderJoint initial position is not reflected in Webots simulation
- Expected field name or '}', found ']' when adding proto to environment
- How do I set the contactMaterial? HOT 1
- How to generate a passive joint? HOT 2
- URDFSpawner <device reference=βlinkβ> does not work when the link is defined in the urdf and not in an existing PROTO HOT 4
- URDFSpawner does not set the robot Physics & BoundingObject when the base link does not have a collision tag
- Missing parsing of ROS mesh filename 'file://' prefix HOT 1
- URDFSpawner does not preserve link names, messing the TF tree when using the ros2_webots_driver with robot_state_publisher HOT 1
- Colors not being applied when pre-defined in URDF
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