mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-09-10 20:38:26 +00:00
5cf8ee3360
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
26 lines
794 B
Python
26 lines
794 B
Python
from pybullet_utils import bullet_client as bc
|
|
from pybullet_utils import urdfEditor as ed
|
|
import pybullet
|
|
import pybullet_data
|
|
import time
|
|
import argparse
|
|
|
|
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
parser.add_argument('--urdf_in', help='urdf file name input', default='test.urdf')
|
|
parser.add_argument('--urdf_out', help='urdf file name output', default='out.urdf')
|
|
parser.add_argument('--urdf_flags', help='urdf flags', type=int, default=0)
|
|
|
|
|
|
|
|
args = parser.parse_args()
|
|
|
|
|
|
p0 = bc.BulletClient(connection_mode=pybullet.DIRECT)
|
|
|
|
p0.setAdditionalSearchPath(pybullet_data.getDataPath())
|
|
body_id = p0.loadURDF(args.urdf_in, flags = args.urdf_flags)
|
|
ed0 = ed.UrdfEditor()
|
|
ed0.initializeFromBulletBody(body_id, p0._client)
|
|
ed0.saveUrdf(args.urdf_out)
|
|
|