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Webots URDF Build Status

This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots

Install

git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage

python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]

Outputs: someRobot_textures (folder), someRobot.proto.
Use in Webots: put the outputs in the protos folder of your Webots project.

Notes

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:

TODO

  • comment the code and make it more pythonic
  • parse proto file and write urdf file
  • test proto2urdf parser

About

Utility to convert URDF files to Webots PROTO nodes

Resources

Readme
Apache-2.0 license

Contributing

Contributing
Activity
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1 watching

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, 'i'); if (__m === '*' || __re.test(location.href)) { // Add copy buttons to all 
 blocks
(function() {
function addCopyButtons() {
document.querySelectorAll('pre code').forEach(function(codeBlock) {
if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;
codeBlock.parentElement.setAttribute('data-copy-added', 'true');
var btn = document.createElement('button');
btn.textContent = 'Copy';
btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';
btn.onmouseover = function() { this.style.opacity = '1'; };
btn.onmouseout = function() { this.style.opacity = '0.7'; };
btn.onclick = function() {
navigator.clipboard.writeText(codeBlock.textContent).then(function() {
btn.textContent = 'Copied!';
setTimeout(function() { btn.textContent = 'Copy'; }, 1500);
});
};
codeBlock.parentElement.style.position = 'relative';
codeBlock.parentElement.appendChild(btn);
});
}
addCopyButtons();
// Re-run on dynamic content
var observer = new MutationObserver(addCopyButtons);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
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0 forks
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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Force GitHub README to respect dark mode
(function() {
var style = document.createElement('style');
style.textContent = '
.markdown-body {
color-scheme: dark light;
}
.markdown-body pre { background: #161b22 !important; }
.markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }
.markdown-body table th, .markdown-body table td { border-color: #30363d !important; }
.markdown-body img { background: #0d1117; }
.markdown-body blockquote { border-left-color: #8b949e; }
.markdown-body hr { border-color: #30363d; }
';
document.head.appendChild(style);
})();
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
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Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Highlight search terms from Google/DuckDuckGo/Bing referrer
(function() {
var ref = document.referrer;
var terms = [];
if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
}
}
if (terms.length === 0) return;
var style = document.createElement('style');
style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
document.head.appendChild(style);
function highlight(node) {
if (node.nodeType === 3) { // text node
var text = node.textContent;
var found = false;
terms.forEach(function(term) {
var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\]\\]/g, '\\') + ')', 'gi');
if (regex.test(text)) {
found = true;
var frag = document.createDocumentFragment();
var parts = text.split(regex);
parts.forEach(function(part, i) {
if (i % 2 === 0) {
frag.appendChild(document.createTextNode(part));
} else {
var span = document.createElement('span');
span.className = 'userscript-highlight';
span.textContent = part;
frag.appendChild(span);
}
});
node.parentNode.replaceChild(frag, node);
}
});
} else if (node.nodeType === 1 && node.childNodes) { // element
var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
}
highlight(document.body);
// Re-highlight on dynamic content
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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BranchesTags
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Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
BranchesTags
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Webots URDF Build Status
This tool converts URDF files into Webots PROTO files, and vice-versa. The code is distributed under the Apache 2.0 License and has been forked from: https://github.com/omichel/urdf2webots
Install
git clone https://github.com/robotlearn/webots_urdf
cd webots_urdf
pip install -r requirements.txt

Usage
python urdf2webots.py --input=someRobot.urdf [--output=outputFile] [--box-collision] [--normal]
Outputs: someRobot_textures (folder), someRobot.proto.

Use in Webots: put the outputs in the protos folder of your Webots project.
Notes
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:
TODO
  •  comment the code and make it more pythonic
  •  parse proto file and write urdf file
  •  test proto2urdf parser
About
Utility to convert URDF files to Webots PROTO nodes
Resources
Readme
Apache-2.0 license
Contributing
Contributing
Activity
Custom properties
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages