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diff --git a/python-urdf2webots.spec b/python-urdf2webots.spec new file mode 100644 index 0000000..7a80aea --- /dev/null +++ b/python-urdf2webots.spec @@ -0,0 +1,582 @@ +%global _empty_manifest_terminate_build 0 +Name: python-urdf2webots +Version: 2.0.3 +Release: 1 +Summary: A converter between URDF and PROTO files. +License: Apache License, Version 2.0 +URL: https://github.com/cyberbotics/urdf2webots +Source0: https://mirrors.aliyun.com/pypi/web/packages/5d/24/046739363405fea8b6c3c89c00f860d88d35c218f05b8d0f70ab3e44eddc/urdf2webots-2.0.3.tar.gz +BuildArch: noarch + +Requires: python3-Pillow +Requires: python3-numpy +Requires: python3-rospkg + +%description +# urdf2webots + + +[](https://badge.fury.io/py/urdf2webots) + +This tool converts URDF files into Webots PROTO files or into Webots Robot node strings. +Python 3.5 or higher is required. + +## 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] [--normal] [--box-collision] [--tool-slot=linkName] [--help] +``` + +### Arguments + +The script accepts the following arguments: + - **-h, --help**: Show the help message and exit. + - **--input=INPUT**: Specifies the URDF file to convert. + - **--output=OUTPUT**: 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 (for PROTO conversion only). + - **--robot-name**: Specify the name of the robot and generate a Robot node string instead of a PROTO file (has to be unique). + - **--normal**: If set, the normals are exported if present in the URDF definition. + - **--box-collision**: If set, the bounding objects are approximated using boxes. + - **--tool-slot=LinkName**: Specify the link that you want to add a tool slot to (exact link name from URDF, for PROTO conversion only). + - **--translation="0 0 0"**: Set the translation field of the PROTO file or Webots Robot node string. + - **--rotation="0 0 1 0"**: Set the rotation field of the PROTO file or Webots Robot node string. + - **--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) (for PROTO conversion only). + - **--joint-to-def**: Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName) (for PROTO conversion only). + - **--relative-path-prefix**: If **--input** is not set, the relative paths in your URDF file sent through stdin will use this prefix. For example: `filename="head.obj"` with `--relative-path-prefix="/home/user/myRobot/"` will become `filename="/home/user/myRobot/head.obj"`. + +In case the **--input** option is missing, the script will read the URDF content from `stdin`. +In that case, you can pipe the content of your URDF file into the script: `cat my_robot.urdf | urdf2proto.py`. +Relative paths present in your URDF file will be treated relatively to the current directory from which the script is called unless **--relative-path-prefix** is set. + +> Previously the **--static-base** argument was supported in order to set the base link to be static (disabled physics). It has been removed as there is a better way to do it by adding the following to your URDF file (assuming **base_link** is the root link of your robot): +> +>``` +> <link name="world" /> +><joint name="world_joint" type="fixed"> +> <parent link="world" /> +> <child link="base_link" /> +></joint> +>``` + +### In your Python Code + +#### Arguments + +The command line arguments available from the terminal are also available from the Python interface, but some have different names: + +| Terminal | Python | +|----------|-------------| +| --input | input | +| --output | output | +| --robot-name | robotName | +| --normal | normal | +| --box-collision | boxCollision | +| --tool-slot | toolSlot | +| --translation | initTranslation | +| --rotation | initRotation | +| --init-pos | initPos | +| --link-to-def | linkToDef | +| --joint-to-def | jointToDef | +| --relative-path-prefix | relativePathPrefix | + +In Python, you can convert a URDF file by passing its path as an argument to the `convertUrdfFile()` function or directly by passing its content as an argument to the `convertUrdfContent()` function. + +#### Convert into Webots PROTO files + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf') +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description) +``` + +#### Convert into Webots Robot node strings + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf', robotName="myRobot") +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description, robotName="myRobot") +``` + +### 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. +- Convert your URDF file to a Webots Robot string and import it. + + +## Notes +This tool was tested using Webots R2022b on Ubuntu22.04. +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 + - 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. + + + + +%package -n python3-urdf2webots +Summary: A converter between URDF and PROTO files. +Provides: python-urdf2webots +BuildRequires: python3-devel +BuildRequires: python3-setuptools +BuildRequires: python3-pip +%description -n python3-urdf2webots +# urdf2webots + + +[](https://badge.fury.io/py/urdf2webots) + +This tool converts URDF files into Webots PROTO files or into Webots Robot node strings. +Python 3.5 or higher is required. + +## 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] [--normal] [--box-collision] [--tool-slot=linkName] [--help] +``` + +### Arguments + +The script accepts the following arguments: + - **-h, --help**: Show the help message and exit. + - **--input=INPUT**: Specifies the URDF file to convert. + - **--output=OUTPUT**: 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 (for PROTO conversion only). + - **--robot-name**: Specify the name of the robot and generate a Robot node string instead of a PROTO file (has to be unique). + - **--normal**: If set, the normals are exported if present in the URDF definition. + - **--box-collision**: If set, the bounding objects are approximated using boxes. + - **--tool-slot=LinkName**: Specify the link that you want to add a tool slot to (exact link name from URDF, for PROTO conversion only). + - **--translation="0 0 0"**: Set the translation field of the PROTO file or Webots Robot node string. + - **--rotation="0 0 1 0"**: Set the rotation field of the PROTO file or Webots Robot node string. + - **--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) (for PROTO conversion only). + - **--joint-to-def**: Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName) (for PROTO conversion only). + - **--relative-path-prefix**: If **--input** is not set, the relative paths in your URDF file sent through stdin will use this prefix. For example: `filename="head.obj"` with `--relative-path-prefix="/home/user/myRobot/"` will become `filename="/home/user/myRobot/head.obj"`. + +In case the **--input** option is missing, the script will read the URDF content from `stdin`. +In that case, you can pipe the content of your URDF file into the script: `cat my_robot.urdf | urdf2proto.py`. +Relative paths present in your URDF file will be treated relatively to the current directory from which the script is called unless **--relative-path-prefix** is set. + +> Previously the **--static-base** argument was supported in order to set the base link to be static (disabled physics). It has been removed as there is a better way to do it by adding the following to your URDF file (assuming **base_link** is the root link of your robot): +> +>``` +> <link name="world" /> +><joint name="world_joint" type="fixed"> +> <parent link="world" /> +> <child link="base_link" /> +></joint> +>``` + +### In your Python Code + +#### Arguments + +The command line arguments available from the terminal are also available from the Python interface, but some have different names: + +| Terminal | Python | +|----------|-------------| +| --input | input | +| --output | output | +| --robot-name | robotName | +| --normal | normal | +| --box-collision | boxCollision | +| --tool-slot | toolSlot | +| --translation | initTranslation | +| --rotation | initRotation | +| --init-pos | initPos | +| --link-to-def | linkToDef | +| --joint-to-def | jointToDef | +| --relative-path-prefix | relativePathPrefix | + +In Python, you can convert a URDF file by passing its path as an argument to the `convertUrdfFile()` function or directly by passing its content as an argument to the `convertUrdfContent()` function. + +#### Convert into Webots PROTO files + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf') +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description) +``` + +#### Convert into Webots Robot node strings + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf', robotName="myRobot") +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description, robotName="myRobot") +``` + +### 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. +- Convert your URDF file to a Webots Robot string and import it. + + +## Notes +This tool was tested using Webots R2022b on Ubuntu22.04. +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 + - 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. + + + + +%package help +Summary: Development documents and examples for urdf2webots +Provides: python3-urdf2webots-doc +%description help +# urdf2webots + + +[](https://badge.fury.io/py/urdf2webots) + +This tool converts URDF files into Webots PROTO files or into Webots Robot node strings. +Python 3.5 or higher is required. + +## 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] [--normal] [--box-collision] [--tool-slot=linkName] [--help] +``` + +### Arguments + +The script accepts the following arguments: + - **-h, --help**: Show the help message and exit. + - **--input=INPUT**: Specifies the URDF file to convert. + - **--output=OUTPUT**: 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 (for PROTO conversion only). + - **--robot-name**: Specify the name of the robot and generate a Robot node string instead of a PROTO file (has to be unique). + - **--normal**: If set, the normals are exported if present in the URDF definition. + - **--box-collision**: If set, the bounding objects are approximated using boxes. + - **--tool-slot=LinkName**: Specify the link that you want to add a tool slot to (exact link name from URDF, for PROTO conversion only). + - **--translation="0 0 0"**: Set the translation field of the PROTO file or Webots Robot node string. + - **--rotation="0 0 1 0"**: Set the rotation field of the PROTO file or Webots Robot node string. + - **--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) (for PROTO conversion only). + - **--joint-to-def**: Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName) (for PROTO conversion only). + - **--relative-path-prefix**: If **--input** is not set, the relative paths in your URDF file sent through stdin will use this prefix. For example: `filename="head.obj"` with `--relative-path-prefix="/home/user/myRobot/"` will become `filename="/home/user/myRobot/head.obj"`. + +In case the **--input** option is missing, the script will read the URDF content from `stdin`. +In that case, you can pipe the content of your URDF file into the script: `cat my_robot.urdf | urdf2proto.py`. +Relative paths present in your URDF file will be treated relatively to the current directory from which the script is called unless **--relative-path-prefix** is set. + +> Previously the **--static-base** argument was supported in order to set the base link to be static (disabled physics). It has been removed as there is a better way to do it by adding the following to your URDF file (assuming **base_link** is the root link of your robot): +> +>``` +> <link name="world" /> +><joint name="world_joint" type="fixed"> +> <parent link="world" /> +> <child link="base_link" /> +></joint> +>``` + +### In your Python Code + +#### Arguments + +The command line arguments available from the terminal are also available from the Python interface, but some have different names: + +| Terminal | Python | +|----------|-------------| +| --input | input | +| --output | output | +| --robot-name | robotName | +| --normal | normal | +| --box-collision | boxCollision | +| --tool-slot | toolSlot | +| --translation | initTranslation | +| --rotation | initRotation | +| --init-pos | initPos | +| --link-to-def | linkToDef | +| --joint-to-def | jointToDef | +| --relative-path-prefix | relativePathPrefix | + +In Python, you can convert a URDF file by passing its path as an argument to the `convertUrdfFile()` function or directly by passing its content as an argument to the `convertUrdfContent()` function. + +#### Convert into Webots PROTO files + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf') +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description) +``` + +#### Convert into Webots Robot node strings + +``` +from urdf2webots.importer import convertUrdfFile +convertUrdfFile(input = 'MY_PATH/MY_URDF.urdf', robotName="myRobot") +``` + +or + +``` +import pathlib +from urdf2webots.importer import convertUrdfContent +robot_description = pathlib.Path('MY_PATH/MY_URDF.urdf').read_text() +convertUrdfContent(input = robot_description, robotName="myRobot") +``` + +### 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. +- Convert your URDF file to a Webots Robot string and import it. + + +## Notes +This tool was tested using Webots R2022b on Ubuntu22.04. +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 + - 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. + + + + +%prep +%autosetup -n urdf2webots-2.0.3 + +%build +%py3_build + +%install +%py3_install +install -d -m755 %{buildroot}/%{_pkgdocdir} +if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi +if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi +if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi +if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi +pushd %{buildroot} +if [ -d usr/lib ]; then + find usr/lib -type f -printf "\"/%h/%f\"\n" >> filelist.lst +fi +if [ -d usr/lib64 ]; then + find usr/lib64 -type f -printf "\"/%h/%f\"\n" >> filelist.lst +fi +if [ -d usr/bin ]; then + find usr/bin -type f -printf "\"/%h/%f\"\n" >> filelist.lst +fi +if [ -d usr/sbin ]; then + find usr/sbin -type f -printf "\"/%h/%f\"\n" >> filelist.lst +fi +touch doclist.lst +if [ -d usr/share/man ]; then + find usr/share/man -type f -printf "\"/%h/%f.gz\"\n" >> doclist.lst +fi +popd +mv %{buildroot}/filelist.lst . +mv %{buildroot}/doclist.lst . + +%files -n python3-urdf2webots -f filelist.lst +%dir %{python3_sitelib}/* + +%files help -f doclist.lst +%{_docdir}/* + +%changelog +* Tue Jun 20 2023 Python_Bot <Python_Bot@openeuler.org> - 2.0.3-1 +- Package Spec generated |