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| author | erwincoumans <erwin.coumans@gmail.com> | 2018-11-21 11:07:05 -0800 |
|---|---|---|
| committer | erwincoumans <erwin.coumans@gmail.com> | 2018-11-21 11:07:05 -0800 |
| commit | f93e4e45536a5090074c58b2d168555e812efa22 (patch) | |
| tree | 21f39070420234a5089b5b4dd2209df77c9576a5 /examples/pybullet/gym/pybullet_utils | |
| parent | 41e28e3587adacc14d0cba7b5b4833b4994bf901 (diff) | |
| download | bullet3-f93e4e45536a5090074c58b2d168555e812efa22.tar.gz | |
fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element)
Diffstat (limited to 'examples/pybullet/gym/pybullet_utils')
| -rw-r--r-- | examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py | 9 | ||||
| -rw-r--r-- | examples/pybullet/gym/pybullet_utils/urdfEditor.py | 12 |
2 files changed, 14 insertions, 7 deletions
diff --git a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py b/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py index c1e39745d..f7903262f 100644 --- a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py +++ b/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py @@ -18,4 +18,11 @@ for o in objs: humanoid = objs[o] ed0 = ed.UrdfEditor() ed0.initializeFromBulletBody(humanoid, p._client) - ed0.saveUrdf(p.getBodyInfo(0)[1]+"_"+p.getBodyInfo(o)[0]+".urdf") + robotName = str(p.getBodyInfo(o)[1],'utf-8') + partName = str(p.getBodyInfo(o)[0], 'utf-8') + + print("robotName=",robotName) + print("partName=",partName) + + saveVisuals=False + ed0.saveUrdf(robotName+"_"+partName+".urdf", saveVisuals) diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pybullet/gym/pybullet_utils/urdfEditor.py index 6b05ce72c..3edca4596 100644 --- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py +++ b/examples/pybullet/gym/pybullet_utils/urdfEditor.py @@ -273,7 +273,7 @@ class UrdfEditor(object): file.write("\t\t</collision>\n") - def writeLink(self, file, urdfLink): + def writeLink(self, file, urdfLink,saveVisuals): file.write("\t<link name=\"") file.write(urdfLink.link_name) file.write("\">\n") @@ -283,9 +283,9 @@ class UrdfEditor(object): for v in urdfLink.urdf_visual_shapes: if (v.geom_type == p.GEOM_CAPSULE): hasCapsules = True - if (not hasCapsules): - for v in urdfLink.urdf_visual_shapes: - self.writeVisualShape(file,v) + if (saveVisuals and not hasCapsules): + for v in urdfLink.urdf_visual_shapes: + self.writeVisualShape(file,v) for c in urdfLink.urdf_collision_shapes: self.writeCollisionShape(file,c) file.write("\t</link>\n") @@ -329,7 +329,7 @@ class UrdfEditor(object): file.write(str) file.write("\t</joint>\n") - def saveUrdf(self, fileName): + def saveUrdf(self, fileName, saveVisuals=True): file = open(fileName,"w") file.write("<?xml version=\"0.0\" ?>\n") file.write("<robot name=\"") @@ -337,7 +337,7 @@ class UrdfEditor(object): file.write("\">\n") for link in self.urdfLinks: - self.writeLink(file,link) + self.writeLink(file,link, saveVisuals) for joint in self.urdfJoints: self.writeJoint(file,joint) |