Usage¶
Commandline options¶
simtrans¶
Convert robot simulation model from one another.
usage: simtrans [-h] [-i FILE] [-o FILE] [-f FORMAT] [-c] [-b] [-t FORMAT] [-p PREFIX] [-s] [-e SPGR] [-v]
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-h,--help¶ show this help message and exit
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-i<file>,--input<file>¶ convert from FILE
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-o<file>,--output<file>¶ convert to FILE
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-f<format>,--from<format>¶ convert from FORMAT (optional)
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-c,--use-collision¶ use collision shape when converting to VRML
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-b,--use-both¶ use both visual and collision shape when converting to VRML (only supported on most recent version of Choreonoid)
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-t<format>,--to<format>¶ convert to FORMAT (optional)
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-p<prefix>,--prefix<prefix>¶ prefix given to mesh path (e.g. package://packagename, optional)
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-s,--skip-validation¶ skip validation of model data
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-e<spgr>,--estimatemass<spgr>¶ estimate mass and inertia from bounding box of the shape given the sp.gr. (optional)
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-v,--verbose¶ verbose output
Convert URDF model to VRML format¶
For example, PR2 robot model can be converted as follows.
$ rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf
$ simtrans -i /tmp/pr2.urdf -o /tmp/pr2.wrl
To open the project using hrpsys-simulator.
$ gnome-terminal -x openhrp-model-loader
$ hrpsys-simulator /tmp/pr2-project.xml
Convert VRML model to SDF format¶
For example, PA10 robot model can be converted as follows.
$ simtrans -i /usr/local/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl -o ~/.gazebo/models/pa10.world
To open the project using gazebo.
$ gazebo ~/.gazebo/models/pa10.world
Validate all the models in the folder¶
For example, we can check JVRC task models as follows.
$ git clone https://github.com/jvrc/model.git jvrcmodels
$ simtrans-checker jvrcmodels/tasks/*/*.wrl
Visualize joint structure using graphviz¶
For example, PR2 robot model can be visualized as follows.
$ rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf
$ simtrans -i /tmp/pr2.urdf -o /tmp/pr2.dot
$ dot -Tx11 /tmp/pr2.dot