This tool converts URDF files into Webots PROTO files.
git clone https://github.com/cyberbotics/urdf2webots.git
cd urdf2webots
pip install -r requirements.txt
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--disable-mesh-optimization]
Outputs: someRobot_textures (folder), someRobot.proto.
Use in Webots: put the outputs in the protos folder of your Webots project.
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
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.