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Merge pull request #176 from cyberbotics/merge-develop-into-master
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Merge `develop` into `master`
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@ad-daniel
ad-daniel authored Sep 20, 2022
2 parents 5e95e29 + 151f581 commit c311981
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Showing 14 changed files with 1,361 additions and 1,629 deletions.
3 changes: 1 addition & 2 deletions requirements.txt
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@@ -1,4 +1,3 @@
pycollada==0.6
Pillow
rospkg
numpy
rospkg
1 change: 0 additions & 1 deletion setup.py
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Expand Up @@ -21,7 +21,6 @@
'Topic :: Software Development'
],
install_requires=[
"pycollada >= 0.6",
"Pillow",
"numpy",
"rospkg"
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371 changes: 71 additions & 300 deletions tests/expected/Human.proto
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939 changes: 939 additions & 0 deletions tests/expected/HumanR2022a.proto
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422 changes: 30 additions & 392 deletions tests/expected/KukaLbrIiwa14R820.proto
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419 changes: 29 additions & 390 deletions tests/expected/KukaLbrIiwa14R820.txt
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56 changes: 10 additions & 46 deletions tests/expected/MotomanSia20d.proto
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Expand Up @@ -2,7 +2,7 @@
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# This is a proto file for Webots for the MotomanSia20d
# Extracted from: /home/benja/urdf2webots/tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf
# Extracted from: root://tests/sources/motoman/motoman_sia20d_support/urdf/sia20d.urdf

PROTO MotomanSia20d [
field SFVec3f translation 0 0 0
Expand All @@ -14,6 +14,7 @@ PROTO MotomanSia20d [
field SFBool supervisor FALSE # Is `Robot.supervisor`.
field SFBool synchronization TRUE # Is `Robot.synchronization`.
field SFBool selfCollision FALSE # Is `Robot.selfCollision`.
field SFBool staticBase TRUE # Defines if the robot base should be pinned to the static environment.
field MFNode toolSlot [] # Extend the robot with new nodes at the end of the arm.
]
{
Expand All @@ -30,22 +31,18 @@ PROTO MotomanSia20d [
Shape {
appearance DEF blue PBRAppearance {
baseColor 0.000000 0.000000 1.000000
transparency 0.000000
roughness 1.000000
metalness 0
emissiveColor 0.000000 0.000000 0.000000
}
geometry DEF MOTOMAN_BASE Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_BASE.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_BASE.stl"
}
}
HingeJoint {
jointParameters HingeJointParameters {
position 0.100000
axis 0.000000 0.000000 1.000000
anchor 0.000000 0.000000 0.410000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -64,19 +61,16 @@ PROTO MotomanSia20d [
rotation 0.000000 0.000000 1.000000 0.100000
children [
Transform {
translation 0.000000 0.000000 0.000000
rotation -0.000000 0.000000 1.000000 3.141600
children [
Shape {
appearance DEF silver PBRAppearance {
baseColor 0.800000 0.800000 0.800000
transparency 0.000000
roughness 1.000000
metalness 0
emissiveColor 0.000000 0.000000 0.000000
}
geometry DEF MOTOMAN_AXIS_S Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_S.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_S.stl"
}
}
]
Expand All @@ -85,9 +79,6 @@ PROTO MotomanSia20d [
jointParameters HingeJointParameters {
position -0.100000
axis 0.000000 1.000000 0.000000
anchor 0.000000 0.000000 0.000000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -102,17 +93,15 @@ PROTO MotomanSia20d [
}
]
endPoint Solid {
translation 0.000000 0.000000 0.000000
rotation 0.000000 -1.000000 0.000000 0.100000
children [
Transform {
translation 0.000000 0.000000 0.000000
rotation -1.000000 -0.000007 -0.000000 1.571593
children [
Shape {
appearance USE blue
geometry DEF MOTOMAN_AXIS_L Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_L.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_L.stl"
}
}
]
Expand All @@ -122,8 +111,6 @@ PROTO MotomanSia20d [
position 0.200000
axis 0.000000 0.000000 1.000000
anchor 0.000000 0.000000 0.490000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -144,15 +131,12 @@ PROTO MotomanSia20d [
Shape {
appearance USE silver
geometry DEF MOTOMAN_AXIS_E Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_E.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_E.stl"
}
}
HingeJoint {
jointParameters HingeJointParameters {
axis 0.000000 -1.000000 0.000000
anchor 0.000000 0.000000 0.000000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -167,17 +151,14 @@ PROTO MotomanSia20d [
}
]
endPoint Solid {
translation 0.000000 0.000000 0.000000
rotation 0.000000 0.000000 1.000000 0.000000
children [
Transform {
translation 0.000000 0.000000 0.000000
rotation 1.000000 0.000050 0.000043 4.711593
children [
Shape {
appearance USE blue
geometry DEF MOTOMAN_AXIS_U Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_U.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_U.stl"
}
}
]
Expand All @@ -186,8 +167,6 @@ PROTO MotomanSia20d [
jointParameters HingeJointParameters {
axis 0.000000 0.000000 -1.000000
anchor 0.000000 0.000000 0.420000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -203,20 +182,16 @@ PROTO MotomanSia20d [
]
endPoint Solid {
translation 0.000000 0.000000 0.420000
rotation 0.000000 0.000000 1.000000 0.000000
children [
Shape {
appearance USE silver
geometry DEF MOTOMAN_AXIS_R Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_R.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_R.stl"
}
}
HingeJoint {
jointParameters HingeJointParameters {
axis 0.000000 -1.000000 0.000000
anchor 0.000000 0.000000 0.000000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -231,17 +206,14 @@ PROTO MotomanSia20d [
}
]
endPoint Solid {
translation 0.000000 0.000000 0.000000
rotation 0.000000 0.000000 1.000000 0.000000
children [
Transform {
translation 0.000000 0.000000 0.000000
rotation -1.000000 0.000000 0.000000 1.570000
children [
Shape {
appearance USE blue
geometry DEF MOTOMAN_AXIS_B Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_B.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_B.stl"
}
}
]
Expand All @@ -250,8 +222,6 @@ PROTO MotomanSia20d [
jointParameters HingeJointParameters {
axis 0.000000 0.000000 -1.000000
anchor 0.000000 0.000000 0.180000
dampingConstant 0.0
staticFriction 0.0
}
device [
RotationalMotor {
Expand All @@ -267,16 +237,14 @@ PROTO MotomanSia20d [
]
endPoint Solid {
translation 0.000000 0.000000 0.180000
rotation 0.000000 0.000000 1.000000 0.000000
children [
Shape {
appearance USE silver
geometry DEF MOTOMAN_AXIS_T Mesh {
url "/home/runner/work/urdf2webots/urdf2webots/tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_T.stl"
url "root://tests/sources/motoman/motoman_sia20d_support/meshes/sia20d/visual/MOTOMAN_AXIS_T.stl"
}
}
Solid {
translation 0.000000 0.000000 0.000000
rotation 0.000000 -0.000000 -1.000000 3.141600
children [
Group {
Expand All @@ -300,7 +268,6 @@ PROTO MotomanSia20d [
]
name "link_b"
boundingObject Transform {
translation 0.000000 0.000000 0.000000
rotation -1.000000 0.000000 0.000000 1.570000
children [
USE MOTOMAN_AXIS_B
Expand All @@ -320,7 +287,6 @@ PROTO MotomanSia20d [
]
name "link_u"
boundingObject Transform {
translation 0.000000 0.000000 0.000000
rotation 1.000000 0.000050 0.000043 4.711593
children [
USE MOTOMAN_AXIS_U
Expand All @@ -340,7 +306,6 @@ PROTO MotomanSia20d [
]
name "link_l"
boundingObject Transform {
translation 0.000000 0.000000 0.000000
rotation -1.000000 -0.000007 -0.000000 1.571593
children [
USE MOTOMAN_AXIS_L
Expand All @@ -353,7 +318,6 @@ PROTO MotomanSia20d [
]
name "link_s"
boundingObject Transform {
translation 0.000000 0.000000 0.000000
rotation -0.000000 0.000000 1.000000 3.141600
children [
USE MOTOMAN_AXIS_S
Expand Down
8 changes: 1 addition & 7 deletions tests/expected/RobotWithDummyLink.proto
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Expand Up @@ -2,7 +2,7 @@
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# This is a proto file for Webots for the RobotWithDummyLink
# Extracted from: /home/benjamin/urdf2webots/tests/sources/RobotWithDummyLink.urdf
# Extracted from: root://tests/sources/RobotWithDummyLink.urdf

PROTO RobotWithDummyLink [
field SFVec3f translation 0 0 0
Expand All @@ -29,10 +29,8 @@ PROTO RobotWithDummyLink [
Shape {
appearance PBRAppearance {
baseColor 0.500000 0.500000 0.500000
transparency 0.000000
roughness 1.000000
metalness 0
emissiveColor 0.000000 0.000000 0.000000
}
geometry Cylinder {
radius 0.1
Expand All @@ -46,10 +44,8 @@ PROTO RobotWithDummyLink [
Shape {
appearance PBRAppearance {
baseColor 0.500000 0.500000 0.500000
transparency 0.000000
roughness 1.000000
metalness 0
emissiveColor 0.000000 0.000000 0.000000
}
geometry Cylinder {
radius 0.1
Expand All @@ -63,10 +59,8 @@ PROTO RobotWithDummyLink [
Shape {
appearance PBRAppearance {
baseColor 0.500000 0.500000 0.500000
transparency 0.000000
roughness 1.000000
metalness 0
emissiveColor 0.000000 0.000000 0.000000
}
geometry Cylinder {
radius 0.1
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4 changes: 2 additions & 2 deletions tests/sources/gait2392_simbody/urdf/human.urdf
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Expand Up @@ -32,14 +32,14 @@
<visual name="calcn_r_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../meshes/obj/Calcn R.obj" scale="1.0 1.0 1.0"/>
<mesh filename="../meshes/obj/Calcn L.obj" scale="1.0 -1.0 1.0"/>
</geometry>
<material name="mat_calcn_r_visual"/>
</visual>
<collision name="calcn_r_collision">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../meshes/obj/Calcn R.001.obj" scale="1.0 1.0 1.0"/>
<mesh filename="../meshes/obj/Calcn L.001.obj" scale="1.0 -1.0 1.0"/>
</geometry>
</collision>
</link>
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2 changes: 1 addition & 1 deletion tests/sources/kuka_lbr_iiwa_support/urdf/model.urdf
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Expand Up @@ -79,7 +79,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
<mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae" scale="-1.0 -1.0 -1.0"/>
</geometry>
</visual>
<collision>
Expand Down
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