Metadata-Version: 2.1
Name: urdf2webots
Version: 1.0.12
Summary: A converter between URDF and PROTO files.
Home-page: https://github.com/cyberbotics/urdf2webots
Author: Cyberbotics
Author-email: support@cyberbotics.com
License: Apache License, Version 2.0
Description: # urdf2webots
        
        ![Test Status](https://github.com/cyberbotics/urdf2webots/actions/workflows/test.yml/badge.svg)
        [![PyPI version](https://badge.fury.io/py/urdf2webots.svg)](https://badge.fury.io/py/urdf2webots)
        
        This tool converts URDF files into Webots PROTO files.
        
        ## Install
        
        ### From pip
        
        ```
        pip install urdf2webots
        ```
        
        On macOS, export the pip binary path to the PATH: `export PATH="/Users/$USER/Library/Python/3.7/bin:$PATH"`
        
        ### From Sources
        
        ```
        git clone --recurse-submodules https://github.com/cyberbotics/urdf2webots.git
        pip install --upgrade --editable urdf2webots
        ```
        
        ## Usage
        
        ### From pip
        
        ```
        python -m urdf2webots.importer --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal] [--static-base] [--tool-slot=linkName] [--name-to-def] [--help]
        ```
        
        ### Arguments
        
        The script accepts the following arguments:
          - **-h, --help**: Show the help message and exit.
          - **--input=INFILE**: Specifies the urdf file to convert.
          - **--output=OUTFILE**: If set, specifies the path and, if ending in ".proto", name of the resulting PROTO file. The filename minus the .proto extension will be the robot name.
          - **--normal**: If set, the normals are exported if present in the URDF definition.
          - **--box-collision**: If set, the bounding objects are approximated using boxes.
          - **--static-base**: If set, the base link will have the option to be static (disable physics)
          - **--tool-slot=LinkName**: Specify the link that you want to add a tool slot to (exact link name from urdf).
          - **--rotation="0 1 0 0"**: Set the rotation field of your PROTO file. If your URDF file uses the z-axis as 'up', use `--rotation="1 0 0 -1.5708"`.
          - **--init-pos=JointPositions**: Set the initial positions of your robot joints. Example: `--init-pos="[1.2, 0.5, -1.5]"` would set the first 3 joints of your robot to the specified values, and leave the rest with their default value.
          - **--link-to-def**: Creates a DEF with the link name for each solid to be able to access it using getFromProtoDef(defName)
          - **--joint-to-def**: Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName)
        
        ### In your Python Code
        
        ```
        from urdf2webots.importer import convert2urdf
        convert2urdf('MY_PATH/MY_URDF.urdf')
        ```
        
        ### In-Depth Tutorial
        Check out [this tutorial](./docs/tutorial.md) for a more in-depth, step by step instruction, on how to:
        - Generate a URDF file from a ROS repository.
        - Convert your URDF file to a Webots PROTO file.
        - Load your converted model into Webots and make final adjustments.
        
        
        ## Notes
        This tool have been tested using Webots R2020b on Ubuntu16.04 and Windows.  
        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
          - gait2392 human skeleton: https://github.com/cyberbotics/urdf2webots/tree/master/tests/sources/gait2392_simbody
        
        ## Acknowledgements
        
        <a href="http://rosin-project.eu">
          <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png"
               alt="rosin_logo" height="60" >
        </a></br>
        
        Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
        More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
        
        <img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg"
             alt="eu_flag" height="45" align="left" >  
        
        This project has received funding from the European Union’s Horizon 2020  
        research and innovation programme under grant agreement no. 732287.
        
        <br>
        
        <a href="https://opendr.eu/">
          <img src="https://opendr.eu/wp-content/uploads/2020/01/logo-300x125.png"
               alt="opendr_logo" height="60" >
        </a></br>
        
        Supported by OpenDR - Open Deep Learning Toolkit for Robotics.  
        More information: <a href="https://opendr.eu/">opendr.eu</a>
        
        <img src="https://opendr.csd.auth.gr/wp-content/uploads/2019/12/Flag_of_Europe-300x200.png"
             alt="eu_flag" height="45" align="left" >  
        
        This project has received funding from the European Union’s Horizon 2020  
        research and innovation programme under grant agreement no. 871449.
        
Platform: UNKNOWN
Classifier: Intended Audience :: Developers
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Programming Language :: Python
Classifier: Topic :: Software Development
Description-Content-Type: text/markdown
