The option `--box-collision` of the convertor seems to work badly when convert a stl file about urdf2webots HOT 8 CLOSED

The box collision is supposed to generate only boxes, I don't understand where does this 'Sphere' nodes come from?
Are you using the latest version of the importer from the master branch or the one from pip?
Can you share the original URDF file and the exact command you are using to convert it?

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The box collision is supposed to generate only boxes, I don't understand where does this 'Sphere' nodes come from?
Are you using the latest version of the importer from the master branch or the one from pip?
Can you share the original URDF file and the exact command you are using to convert it?

Yes, it's a strange result.
I use a virtualenv and use the pip install urdf2webots to install the tool.
I use the command: python -m urdf2webots.importer --input=cheetah.urdf --box-collision --output=cheetah.proto
and the origin urdf file is :
cheetah.txt
and a stl file of it is:
back.zip

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Can you maybe retry from the up to date files from the master branch of this repo instead of pip?
We fixed several issues about bounding object and inertia since the latest pip release.

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Can you maybe retry from the up to date files from the master branch of this repo instead of pip?
We fixed several issues about bounding object and inertia since the latest pip release.

Ok, I will try and reply soon.

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Perfect, thank you.

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I try the tool from the master branch. Here are the steps:

• git clone ...
• workon <python virtualenv>
• source devel/setup.bash
• python ~/urdf2webots/demo.py --input=cheetah.urdf --output=cheetah.proto --box-collision

here are the results:

Directory "cheetah_textures" already exists!
Parsing Mesh: <catkin_ws>src/cheetah/meshes/back.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/link.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Sl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Sl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Body.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/FS.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L3.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/FSb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/RS.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/RSb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L4.STL
Root link: world
There are 52 links, 51 joints and 2 sensors

and the error still is there:cold_sweat: , some boundingObjects still are Spheres
hare are screenshots of the generated proto file:

The good news is that inertiaMatrix is being generated, though I don't know if it's generating the right results

from urdf2webots.

I try the tool from the master branch. Here are the steps:

• git clone ...
• workon <python virtualenv>
• source devel/setup.bash
• python ~/urdf2webots/demo.py --input=cheetah.urdf --output=cheetah.proto --box-collision

here are the results:

Directory "cheetah_textures" already exists!
Parsing Mesh: <catkin_ws>src/cheetah/meshes/back.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/link.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Sl2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Sl1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Body.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/FS.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L1.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L2.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L3.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Hb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/Vb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/FSb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/RS.STL
Warning: This mesh has a lot of triangles!
Warning: It is recommended to use the script with the '--disable-mesh-optimization' argument.
Parsing Mesh: <catkin_ws>src/cheetah/meshes/RSb.STL
Parsing Mesh: <catkin_ws>src/cheetah/meshes/L4.STL
Root link: world
There are 52 links, 51 joints and 2 sensors

and the error still is there😰 , some boundingObjects still are Spheres
hare are screenshots of the generated proto file:

The good news is that inertiaMatrix is being generated, though I don't know if it's generating the right results

I'm so sorry that I checked my urdf file and I find that I use different geometries in the <collision> and <visual> label. The master branch of the tool is working correctly.

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I'm so sorry that I checked my urdf file and I find that I use different geometries in the and label. The master branch of the tool is working correctly.

That makes way more sense, thank you for the feedback!

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