Automatic conversion tool + urdf library w/ meshes #74
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| #!/usr/bin/env python | ||
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| """URDF files to Webots PROTO converter.""" | ||
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| import optparse | ||
| import datetime | ||
| import os | ||
| import shutil | ||
| import json | ||
| import math | ||
| # from urdf2webots.importer import convert2urdf | ||
| import urdf2webots.importer as importer | ||
| from copy import deepcopy | ||
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| # Set Override = True if you want to override ALL config settings with the | ||
| # value in the OverrideCfg. This can be usefull for testing functionality | ||
| # quickly, and then doing a slow optimized conversion | ||
| Override = False | ||
| OverrideCfg = { | ||
| 'disableMeshOptimization': False | ||
| } | ||
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| # This defines the default config. If a urdf model doesnt have a config, one | ||
| # will created after this. If the importer.py is updated, so should this to | ||
| # add the additional functionality- | ||
| default_config = { | ||
| # outFile will get constructed with protosPath + robotName + '.proto' | ||
| 'robotName': None, | ||
| 'normal': False, | ||
| 'boxCollision': True, | ||
| 'disableMeshOptimization': True, | ||
| 'enableMultiFile': True, | ||
| 'staticBase': True, | ||
| 'toolSlot': None, | ||
| 'initRotation': "1 0 0 -1.5708" | ||
| } | ||
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| class batchConversion(): | ||
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| def __init__(self, sourcePath, outPath): | ||
| self.urdf2webots_path = os.path.dirname(os.path.abspath(__file__)) | ||
| # create a unique path for a new batch-conversion | ||
| today = datetime.date.today() | ||
| todaystr = today.isoformat() | ||
| self.protoTargetDir = outPath + '/protos_' + todaystr | ||
| n = 2 | ||
| while os.path.exists(self.protoTargetDir): | ||
| while os.path.exists(self.protoTargetDir + '_Nr-' + str(n)): | ||
| n += 1 | ||
| self.protoTargetDir = self.protoTargetDir + '_Nr-' + str(n) | ||
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| # Find all the urdf files, and create the corresponding proto filePaths | ||
| urdf_root_dir = sourcePath # 'automatic_conversion/urdf' | ||
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| os.chdir(urdf_root_dir) | ||
| # Walk the tree. | ||
| self.urdf_files = [] # List of the full filepaths. | ||
| self.protosPaths = [] | ||
| for root, directories, files in os.walk('./'): | ||
| for filename in files: | ||
| # Join the two strings in order to form the full filepath. | ||
| if filename.endswith(".urdf"): | ||
| filepath = os.path.join(root, filename) | ||
| filepath = filepath[1:] | ||
| self.urdf_files.append(urdf_root_dir + filepath) | ||
| self.protosPaths.append(self.protoTargetDir + os.path.dirname(filepath) + '/') | ||
| os.chdir(self.urdf2webots_path) | ||
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| # Report dict we can print at the end | ||
| self.EndReportMessage = { | ||
| 'updateConfigs': [], | ||
| 'newConfigs': [], | ||
| 'converted': [], | ||
| 'failed': [] | ||
| } | ||
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| def update_and_convert(self): | ||
| # Make sure all configs exist and are up to date, then convert all URDF files | ||
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| self.check_all_configs() | ||
| self.convert_all_urdfs() | ||
| self.print_end_report() | ||
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| def create_proto_dir(self): | ||
| # create a new unique directory for our conversions | ||
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| print(self.protoTargetDir) | ||
| os.makedirs(self.protoTargetDir) | ||
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| def replace_ExtraProjectPath(self): | ||
| # this copies the converted files and puts them in the "automatic_conversion/ExtraProjectTest" directory | ||
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| # This path can be added to webots, so we can test each new conversion, without having to adjust the Path | ||
| # every time | ||
| destination = os.path.dirname(self.protoTargetDir) + '/ExtraProjectTest' | ||
| if os.path.isfile(destination) or os.path.islink(destination): | ||
| os.remove(destination) # remove the file | ||
| elif os.path.isdir(destination): | ||
| shutil.rmtree(destination) # remove dir and all contains | ||
| shutil.copytree(self.protoTargetDir, destination) | ||
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| def update_config(self, configFile, config=None): | ||
| # makes sure the existing configs are in the same format as the default. Existing options are conserved | ||
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| new_config = deepcopy(default_config) | ||
| for key in new_config.keys(): | ||
| try: | ||
| new_config[key] = config[key] | ||
| except: | ||
| pass | ||
| with open(configFile, 'w') as outfile: | ||
| json.dump(new_config, outfile, indent=4, sort_keys=True) | ||
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| def check_all_configs(self): | ||
| # makes sure ever URDF file has a config and it is up do date | ||
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| print('Checking config files...') | ||
| print('---------------------------------------') | ||
| for i in range(len(self.urdf_files)): | ||
| configFile = os.path.splitext(self.urdf_files[i])[0] + '.json' | ||
| try: | ||
| with open(configFile) as json_file: | ||
| config = json.load(json_file) | ||
| if config.keys() != default_config.keys(): | ||
| print('Updating config (old settings will be carried over) - ', configFile) | ||
| self.EndReportMessage['updateConfigs'].append(configFile) | ||
| update_config(configFile, config) | ||
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| else: | ||
| print('Config up to date - ', configFile) | ||
| except: | ||
| print('Generating new config for - ' + os.path.splitext(self.urdf_files[i])[0]) | ||
| self.EndReportMessage['newConfigs'].append(configFile) | ||
| update_config(configFile) | ||
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| def convert_all_urdfs(self): | ||
| # convertes all URDF files according to their .json config files | ||
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| self.create_proto_dir() | ||
| print('---------------------------------------') | ||
| print('Converting URDF to PROTO...') | ||
| print('---------------------------------------') | ||
| print('---------------------------------------') | ||
| for i in range(len(self.urdf_files)): | ||
| # clears any previous Geometry and Material references, so there is no conflict | ||
| importer.urdf2webots.parserURDF.Geometry.reference = {} | ||
| importer.urdf2webots.parserURDF.Material.namedMaterial = {} | ||
| configFile = os.path.splitext(self.urdf_files[i])[0] + '.json' | ||
| print('---------------------------------------') | ||
| print('Converting: ', self.urdf_files[i]) | ||
| print('---------------------------------------') | ||
| try: | ||
| with open(configFile) as json_file: | ||
| config = json.load(json_file) | ||
| importer.convert2urdf( | ||
| inFile=self.urdf_files[i], | ||
| outFile=self.protosPaths[i] if not config['robotName'] else self.protosPaths[i] + config['robotName'] + '.proto', | ||
| normal=config['normal'], | ||
| boxCollision=config['boxCollision'], | ||
| disableMeshOptimization=OverrideCfg['disableMeshOptimization'] if Override else config['disableMeshOptimization'], | ||
| enableMultiFile=config['enableMultiFile'], | ||
| staticBase=config['staticBase'], | ||
| toolSlot=config['toolSlot'], | ||
| initRotation=config['initRotation']) | ||
| self.EndReportMessage['converted'].append(self.urdf_files[i]) | ||
| except Exception as e: | ||
| print(e) | ||
| self.EndReportMessage['failed'].append(self.urdf_files[i]) | ||
| print('---------------------------------------') | ||
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| def print_end_report(self): | ||
| # print the Report | ||
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| print('---------------------------------------') | ||
| print('------------End Report-----------------') | ||
| print('---------------------------------------') | ||
| print('Configs updated:') | ||
| print('---------------------------------------') | ||
| for config in self.EndReportMessage['updateConfigs']: | ||
| print(config) | ||
| print('---------------------------------------') | ||
| print('Configs created:') | ||
| print('---------------------------------------') | ||
| for config in self.EndReportMessage['newConfigs']: | ||
| print(config) | ||
| print('---------------------------------------') | ||
| print('Successfully converted URDF files:') | ||
| print('---------------------------------------') | ||
| for urdf in self.EndReportMessage['converted']: | ||
| print(urdf) | ||
| if len(self.EndReportMessage['failed']) > 0: | ||
| print('---------------------------------------') | ||
| print('Failedd URDF conversions:') | ||
| print('---------------------------------------') | ||
| for urdf in self.EndReportMessage['failed']: | ||
| print(urdf) | ||
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| def create_test_world(self, spacing=3): | ||
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| n_models = len(self.urdf_files) | ||
| n_row = math.ceil(n_models ** 0.5) # round up the sqrt of the number of models | ||
| grid_size = spacing * (n_row + 1) | ||
| projectDir = os.path.dirname(self.protoTargetDir) + '/ExtraProjectTest/TestAllRobots.wbt' | ||
| worldFile = open(projectDir, 'w') | ||
| worldFile.write('#VRML_SIM R2020b utf8\n') | ||
| worldFile.write('\n') | ||
| worldFile.write('WorldInfo {\n') | ||
| worldFile.write(' basicTimeStep 16\n') | ||
| worldFile.write(' coordinateSystem "NUE"\n') | ||
| worldFile.write('}\n') | ||
| worldFile.write('Viewpoint {\n') | ||
| worldFile.write(' orientation 0.7180951961816571 -0.6372947429425837 -0.27963315225232777 5.235063704863283\n') | ||
| worldFile.write(' position 1.9410928989638234 2.447392518518642 1.7311802992777219\n') | ||
| worldFile.write('}\n') | ||
| worldFile.write('TexturedBackground {\n') | ||
| worldFile.write('}\n') | ||
| worldFile.write('TexturedBackgroundLight {\n') | ||
| worldFile.write('}\n') | ||
| worldFile.write('RectangleArena {\n') | ||
| worldFile.write(' floorSize ' + str(grid_size) + ' ' + str(grid_size) + '\n') | ||
| worldFile.write(' floorTileSize 0.25 0.25\n') | ||
| worldFile.write(' wallHeight 0.05\n') | ||
| worldFile.write('}\n') | ||
| filenames = [] # List which will store all of the full filepaths. | ||
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| row = 0 | ||
| column = 1 | ||
| for root, directories, files in os.walk(os.path.dirname(projectDir)): | ||
| for filename in files: | ||
| # Join the two strings in order to form the full filepath. | ||
| if filename.endswith(".proto"): | ||
| filepath = os.path.join(root, filename) | ||
| if os.path.dirname(filepath).split('_')[-1] != 'meshes': | ||
| name = os.path.splitext(os.path.basename(filename))[0] | ||
| if row == n_row: | ||
| column += 1 | ||
| row = 0 | ||
| row += 1 | ||
| # add the model to the world file with translation to be spaced in a grid | ||
| worldFile.write(name + ' {\n') | ||
| worldFile.write(' translation ' + str(column * spacing - grid_size / 2) + ' 0 ' + str(row * spacing - grid_size / 2) + '\n') | ||
| worldFile.write('}\n') | ||
| worldFile.close() | ||
| os.chdir(self.urdf2webots_path) | ||
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| if __name__ == '__main__': | ||
| optParser = optparse.OptionParser(usage='usage: %prog [options]') | ||
| optParser.add_option('--input', dest='sourcePath', default='', help='Specifies the urdf file to convert.') | ||
| optParser.add_option('--output', dest='outPath', default='', help='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.') | ||
| optParser.add_option('--force-mesh-optimization', dest='forceMesh', action='store_true', default=False, help='Set if mesh-optimization should be turned on for all conversions. This will take much longer!') | ||
| optParser.add_option('--no-project-override', dest='extraProj', action='store_true', default=False, help='Set if new conversions should NOT replace existing ones in "automatic_conversion/ExtraProjectTest".') | ||
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| optParser.add_option('--update-cfg', dest='cfgUpdate', action='store_true', default=False, help='No conversion. Only updates or creates .json config for every URDF file in "automatic_conversion/urdf".') | ||
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| options, args = optParser.parse_args() | ||
| bc = batchConversion(options.sourcePath, options.outPath) | ||
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| Override = options.forceMesh | ||
| if options.cfgUpdate: | ||
| bc.check_all_configs() | ||
| else: | ||
| bc.update_and_convert() | ||
| if not options.extraProj: | ||
| bc.replace_ExtraProjectPath() | ||
| bc.create_test_world() | ||
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