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Replace optparse with argparse and target higher python versions for …
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…tests (#193)

* Replace optparse with argparse and target higher python versions

* Fix workflow
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@ad-daniel
ad-daniel authored Nov 14, 2022
1 parent 23bf599 commit 15beadc
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Showing 2 changed files with 43 additions and 40 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/test.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ jobs:
tests:
strategy:
matrix:
python: [3.5, 3.6, 3.7, 3.8]
python: ['3.7', '3.8', '3.9', '3.10']
runs-on: ubuntu-latest
env:
CI: 1
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81 changes: 42 additions & 39 deletions urdf2webots/importer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,11 @@
import sys

# Check version of Python
if sys.version_info < (3,5):
sys.exit('urdf2webots requires Python 3.5 or higher.')
if sys.version_info < (3,7):
sys.exit('urdf2webots requires Python 3.7 or higher.')

import errno
import optparse
import argparse
import os
import re
import tempfile
Expand Down Expand Up @@ -293,39 +293,42 @@ def convertUrdfContent(input, output=None, robotName=None, normal=False, boxColl


if __name__ == '__main__':
optParser = optparse.OptionParser(usage='usage: %prog --input=my_robot.urdf [options]')
optParser.add_option('--input', dest='input', default='', help='Specifies the URDF file.')
optParser.add_option('--output', dest='output', 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 '
'(for PROTO conversion only).')
optParser.add_option('--robot-name', dest='robotName', default=None, help='Specifies the name of the robot '
'and generate a Robot node string instead of a PROTO file (has to be unique).')
optParser.add_option('--normal', dest='normal', action='store_true', default=False,
help='If set, the normals are exported if present in the URDF definition.')
optParser.add_option('--box-collision', dest='boxCollision', action='store_true', default=False,
help='If set, the bounding objects are approximated using boxes.')
optParser.add_option('--tool-slot', dest='toolSlot', default=None,
help='Specify the link that you want to add a tool slot too (exact link name from URDF, for PROTO conversion only).')
optParser.add_option('--translation', dest='initTranslation', default='0 0 0',
help='Set the translation field of your PROTO file or Webots VRML robot string.')
optParser.add_option('--rotation', dest='initRotation', default='0 0 1 0',
help='Set the rotation field of your PROTO file or Webots Robot node string.')
optParser.add_option('--init-pos', dest='initPos', default=None,
help='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.')
optParser.add_option('--link-to-def', dest='linkToDef', action='store_true', default=False,
help='Creates a DEF with the link name for each solid to be able to access it using getFromProtoDef(defName) '
'(for PROTO conversion only).')
optParser.add_option('--joint-to-def', dest='jointToDef', action='store_true', default=False,
help='Creates a DEF with the joint name for each joint to be able to access it using getFromProtoDef(defName) '
'(for PROTO conversion only).')
optParser.add_option('--relative-path-prefix', dest='relativePathPrefix', default=None,
help='If set and --input not specified, relative paths in your URDF file will be treated relatively to it '
'rather than relatively to the current directory from which the script is called.')
optParser.add_option('--target', dest='targetVersion', default='R2022b', choices=['R2022b', 'R2022a', 'R2021b', 'R2021a', 'R2020b', 'R2020a'],
help='Sets the Webots version the PROTO will target.')
options, args = optParser.parse_args()
convertUrdfFile(options.input, options.output, options.robotName, options.normal, options.boxCollision, options.toolSlot,
options.initTranslation, options.initRotation, options.initPos, options.linkToDef, options.jointToDef, options.relativePathPrefix,
options.targetVersion)
parser = argparse.ArgumentParser(description='usage: %prog --input=my_robot.urdf [options]')
parser.add_argument('--input', dest='input', default='', help='Specifies the URDF file.')
parser.add_argument('--output', dest='output', 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 '
'(for PROTO conversion only).')
parser.add_argument('--robot-name', dest='robotName', default=None, help='Specifies the name of the robot '
'and generate a Robot node string instead of a PROTO file (has to be unique).')
parser.add_argument('--normal', dest='normal', action='store_true', default=False,
help='If set, the normals are exported if present in the URDF definition.')
parser.add_argument('--box-collision', dest='boxCollision', action='store_true', default=False,
help='If set, the bounding objects are approximated using boxes.')
parser.add_argument('--tool-slot', dest='toolSlot', default=None,
help='Specify the link that you want to add a tool slot too (exact link name from URDF, for PROTO '
'conversion only).')
parser.add_argument('--translation', dest='initTranslation', default='0 0 0',
help='Set the translation field of your PROTO file or Webots VRML robot string.')
parser.add_argument('--rotation', dest='initRotation', default='0 0 1 0',
help='Set the rotation field of your PROTO file or Webots Robot node string.')
parser.add_argument('--init-pos', dest='initPos', default=None,
help='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.')
parser.add_argument('--link-to-def', dest='linkToDef', action='store_true', default=False,
help='Creates a DEF with the link name for each solid to be able to access it using '
'getFromProtoDef(defName) (for PROTO conversion only).')
parser.add_argument('--joint-to-def', dest='jointToDef', action='store_true', default=False,
help='Creates a DEF with the joint name for each joint to be able to access it using '
'getFromProtoDef(defName) (for PROTO conversion only).')
parser.add_argument('--relative-path-prefix', dest='relativePathPrefix', default=None,
help='If set and --input not specified, relative paths in your URDF file will be treated relatively '
'to it rather than relatively to the current directory from which the script is called.')
parser.add_argument('--target', dest='targetVersion', default='R2022b',
choices=['R2023a', 'R2022b', 'R2022a', 'R2021b', 'R2021a', 'R2020b', 'R2020a'],
help='Sets the Webots version the PROTO will target (will adapt which nodes will be used).')

args = parser.parse_args()
convertUrdfFile(args.input, args.output, args.robotName, args.normal, args.boxCollision, args.toolSlot,
args.initTranslation, args.initRotation, args.initPos, args.linkToDef, args.jointToDef,
args.relativePathPrefix, args.targetVersion)

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