fkanehiro/simtrans

simtrans's Issues

PR2の変換がおかしい

チュートリアルにある通りの手順でPR2をurdfからwrlに変換すると、一見正常に変換できたように見えますが、やたらと大きなパーツがロボットから少し離れたところに存在しています。

materialの変換

sdfの

      <visual name="visual">
        <geometry>
          <box> <size>0.01 0.91 0.495</size> </box>
        </geometry>
        <material>
                <ambient>1 0 0 0</ambient>
        </material>
      </visual>

をwrlに変換すると、

                    Shape {
                      geometry Box {
                        size 0.01 0.91 0.495
                      }
                    }

となるようです。sdfはgazeboで見ると赤色に見えますが、wrlはchoreonoidでみるとグレーになります。
そもそもambientだけ指定する、というのはどうなのか、という話もあるかと思いますが…

simtransで変換したｗｒｌをchoreonoidで使う場合にエラーが出る

simtransを使ったURDFからwrlへの変換について質問させていただきます．

simtransで変換したｗｒｌをchoreonoidで使う場合にエラーで表示できません．
以下の様なエラーが出ます．

OpenHRP モデルファイル "/home/mechatropc-10/catkin_ws/src/crawler_description/VRML/crawler.wrl" を読み込み中
The entity of a to node does not correctly begin with '{' at line 180 of /home/mechatropc-10/catkin_ws/src/crawler_description/VRML/crawler.wrl
-> 失敗.

エラーメッセージ通り確認したのですが，それらしい間違いは見当たりません．
また，このURDFはRvizでは表示できます．

以下にURDFを記載します．

URDFデータ

    <geometry>
        <mesh filename="package://crawler_description/mesh/DAE/crawler_body.dae"/>
    </geometry>
   <origin rpy="0 0 0" xyz="0 0 0.06"/>
  </collision>

  <inertial>

       <mass value="17" />
    <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                       iyy="1.0" iyz="-1.0"
                       izy="1.0" izz="1.0" />
        <origin rpy="0 0 0" xyz="0 0 0.06"/>
  </inertial>

    <geometry>
   <mesh filename="package://crawler_description/mesh/DAE/crawler.dae"/>
  </geometry>
 <origin rpy="0 0 0" xyz="0 0 0"/>
</collision>

<inertial>

          <mass value="1" />
    <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                       iyy="1.0" iyz="0.0"
                                 izz="1.0" />
     <origin rpy="0 0 0" xyz="0 0 0"/>
  </inertial>

       <geometry>
          <mesh filename="package://crawler_description/mesh/DAE/crawler.dae"/>
      </geometry>
  <origin rpy="0 0 0" xyz="0 0 0"/>

      <mass value="1" />
       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                          iyy="1.0" iyz="0.0"
                                    izz="1.0" />
      <origin rpy="0 0 0" xyz="0 0 0"/>
  </inertial>

     <geometry>
     <mesh filename="package://crawler_description/mesh/DAE/flipper.dae"/>
    </geometry>
   <origin rpy="0 0 1.57" xyz="0 0 0.09"/>
</collision>

  <inertial>
  
        <mass value="1" />
     <inertia ixx="1.0" ixy="0.0" ixz="1.0"
                       iyy="1.0" iyz="0.0"
                                  izz="1.0" />
    <origin rpy="0 0 1.57" xyz="0 0 0.09"/>
 </inertial>

p

     <geometry>
     <mesh filename="package://crawler_description/mesh/DAE/flipper.dae"/>
   </geometry>

        <mass value="1" />
    <inertia ixx="1.0" ixy="0.0" ixz="1.0"
                      iyy="1.0" iyz="0.0"
                                 izz="1.0" />

        <geometry>
         <mesh filename="package://crawler_description/mesh/DAE/flipper.dae"/>

       </geometry>

          <mass value="1" />
       <inertia ixx="1.0" ixy="0.0" ixz="1.0"
                         iyy="1.0" iyz="0.0"
                                    izz="1.0" />

<link name="flipper_R2">
    <visual>
      <geometry>
        <mesh filename="package://crawler_description/mesh/DAE/flipper.dae"/>
     </geometry>
  <origin rpy="0 0 1.57" xyz="0 0 0.09"/>
</visual>

     <geometry>
      <mesh filename="package://crawler_description/mesh/DAE/flipper.dae"/>

   </geometry>

         <mass value="1" />
    <inertia ixx="1.0" ixy="0.0" ixz="1.0"
                      iyy="1.0" iyz="0.0"
                                 izz="1.0" />

Import torque limits from vrml into URDF

When converting a .wrl into a .urdf, the climit field should be translated into the "effort" attribute of the limit tag in each joint tag.

URDF to VRML conversion is broken

Hello,

I recently tried to export a URDF simple model to a VRML one. As there is no specific release, I installed from master.

However, when using:

simtrans -f urdf -i test.urdf -t vrml -o test.wrl

I get this error:

ERROR cannot read links at all (probably the model refers to another model by tag)

There is NO include tag in this model. It is in fact very simple.

I saw that the URDF model was in fact using SRDF (And that required a dependency on Gazebo...). If I use read2() from URDFReader, I get a wrl file, where all transforms are set to identity i.e. all links are in the same place.

It seems that the joints transforms are lost during the calls to:

self.convertChild(bm, c)

Both input and output files are here:
https://gist.github.com/haudren/826e297c3cfd9dbdb389

Thanks,
Hervé Audren (JRL)

urdfからwrlへの変換で関節軸がおかしい

下のようなurdfを変換すると、円柱の軸周りに関節が回転することを期待しますが、それとは９０度異なる方向周りに回転します。
おそらくrpyがaxisに適用されているのではないかと思いますが、urdfもwrlも子リンクでの相対表現なので変換は不要と思います。

更にrootジョイントがfixedではなくfreeになります。

<?xml version="1.0" encoding="utf-8"?>
<robot name="robot">
        <link name="Root_joint_link">
                <inertial>
                        <mass value="1"/>
                        <origin xyz="0 0 0" rpy="0 -0 0"/>
                        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1\
"/>
                </inertial>
                <visual>
                        <origin xyz="0 0 0" rpy="0 -0 0"/>
                        <geometry>
                                <box size="0.4 0.2 0.3" />
                        </geometry>
                </visual>
        </link>
        <link name="Hip_joint_link">
                <inertial>
                        <mass value="1"/>
                        <origin xyz="0 0 0" rpy="0 -0 0"/>
                        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1\
"/>
                </inertial>
                <visual>
                        <origin xyz="0 0 0" rpy="0 -0 0"/>
                        <geometry>
                                <cylinder radius="0.1" length="0.4" />
                        </geometry>
                </visual>
        </link>
        <link name="root"/>
        <joint name="Hip_joint_joint" type="revolute">
                <origin xyz="0.1 0 -0.1" rpy="0 -1.5708 0"/>
                <axis xyz="0 0 1"/>
                <parent link="Root_joint_link"/>
                <child link="Hip_joint_link"/>
                <limit effort="-1" velocity="-1" lower="-1" upper="1"/>
        </joint>
        <joint name="Root_joint_joint" type="fixed">
                <origin xyz="0 0 0" rpy="0 -0 0"/>
                <axis xyz="0 0 0"/>
                <parent link="root"/>
                <child link="Root_joint_link"/>
        </joint>
</robot>

Error when spaces before/after <parent> tag

Current version of simtrans produce object not found error when SDF is defined as

　　　 <parent> object1 </parent>
　　　 <child> object2 </child>

spaces has to be stripped.

Error output when multiple spaces are in the "<pose>" tag

e.g. "1 1 1 1" (no error), "1 1 1 1"(produce error)

Better to use re.split(' +',...) instead of '...'.split(' ')

sdf or urdf to dae conversion problem

Hello

I am trying to convert a sdf to dae file and I have a problem with the conversion. The sdf file is for a robot and simtrans only converts the first part of the robot. I attached my sdf code over here. The only thing that i can guess of is the jointid. Because it shows:
2019-01-21 15:47:56 PC-name root[6415] INFO validating joint LJ1
2019-01-21 15:47:56 PC-name root[6415] WARNING jointId not set

I have tested the urdf file and I have the same problem. Would you please help me for solving this problem?
Thank You
mechanism.sdf.zip

SDFからVRMLへの変換でリンクが消える

@yosuke さん、次のようなsdfを変換するとchildがいなくなってしまうのですが、なぜでしょうか？

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="test">

    <link name="parent">
    </link>
    <link name="child">
    </link>

    <joint name="joint" type="revolute">
      <parent>parent</parent>
      <child>child</child>
    </joint>
  </model>
</sdf>

テクスチャのパスを絶対パスで出力しない

モデルデータのポータビリティを上げるためには相対パスで出力した方がよいかと思います。@yosuke

Installation problems

Hi,

First of all I want to thank you for all your efforts in this project which I is very helpful in a world without automatic export tools to/from URDF/SDF.

Nonetheless, I'm still trying to install simtrans but I have found two problems and I cannot proceed. I'm following this documentation) and my setup is the following: Ubuntu 16.04 with ROS Kinetic and Gazebo 7.1.

1. With ROS Kinetic installed, when trying to install openhrp it fails because it depends on collada-dom2.4-dp-base (version 2.4.3), but I found libcollada-dom2.4-dp-dev (version 2.4.4) already installed and it obviously throw an exception.

   I don't know if it is the right thing to do, but I installed ros-kinetic-openhrp3 from the package manager because it said that "This package does not only wrap OpenHRP3 but actually provides the built artifact from the code from its mainstream repository.".

2. During the final part of the installation process, i.e. when executing sudo python setup.py install, the compilation process end with a fatal error because it has some problem with the #include <sdf/sdf.hh>:

   running install
   running bdist_egg
   running egg_info
   writing simtrans.egg-info/PKG-INFO
   writing top-level names to simtrans.egg-info/top_level.txt
   writing dependency_links to simtrans.egg-info/dependency_links.txt
   writing entry points to simtrans.egg-info/entry_points.txt
   reading manifest file 'simtrans.egg-info/SOURCES.txt'
   reading manifest template 'MANIFEST.in'
   writing manifest file 'simtrans.egg-info/SOURCES.txt'
   installing library code to build/bdist.linux-x86_64/egg
   running install_lib
   running build_py
   running build_ext
   building 'simtranssdfhelper' extension
   x86_64-linux-gnu-gcc -pthread -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -I/usr/include/sdformat-4.2 -I/usr/include/ignition/math2 -I/usr/include/python2.7 -c simtrans/sdfhelper.cpp -o build/temp.linux-x86_64-2.7/simtrans/sdfhelper.o
   cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
   simtrans/sdfhelper.cpp:3:22: fatal error: sdf/sdf.hh: File or directory not found
   compilation terminated.
   error: command 'x86_64-linux-gnu-gcc' failed with exit status 1
   

   Of course I have already installed sdformat-4.2 (from Gazebo installation) and it properly includes the right directory: ... -I/usr/include/sdformat-4.2 ....
   Therefore I have decided that the problem must be elsewhere. I have investigated a bit more and I found that if I manually compile using g++ (or gcc) with the -std=c++11 flag enabled and all the above other settings, it ends with just a couple of warings. Nonetheless, I don't know if the installation process can be consider finished correctly or not. Are there other instruction after the compile command? And, is there a way to switch the default compiler with a custom one?

Thank you for your time,
Alessandro Tondo

wrlからdaeへの変換時に一部の形状しか変換されない

atlasno

@yosuke さん、いつの間にか変換がうまくいかなくなっているようです。

• atlasのモデルを $ simtrans -i /tmp/atlas.urdf -o /tmp/atlas.wrlとして変換しても、atlas.wrlは生成されない。
• cnoidファイルを見るとatlas-pervis.wrlを開けば良さそうに見えるので開いてみると、head_hokuyo_jointが未定義であると言われる

wrl to dae convertor problem

Hello

I am converting a wrl file of a robot to dae file. But I get following results:
Humanoid node
Joint node base_link
Segment node base_link
Joint node LJ1
Segment node Agile_Eye1L
Joint node LJ4
Segment node L_agile
Joint node LJ2
Segment node Agile_Eye2L
Joint node LJ3
Segment node Agile_Eye3L
Joint node LJ5
Segment node Agile_Eye4L
Joint node LJ6
Segment node L_Slider
Joint node LJ7
Segment node L_Slider_Moving
Joint node LJ8
Segment node L_Rot
Joint node LJ9
Segment node L_Rot_Slider
Joint node LJ10
Segment node L_Rot_Slider_Moving
Joint node LJ11
Segment node L_Back
Joint node LJ14
Segment node L_base
Joint node LJ12
Segment node L_Knee
Joint node LJ13
Segment node L_Foot
Joint node RJ1
Segment node Agile_Eye1
Joint node RJ4
Segment node R_agile
Joint node RJ2
Segment node Agile_Eye2
Joint node RJ3
Segment node Agile_Eye3
Joint node RJ5
Segment node Agile_Eye4
Joint node RJ6
Segment node R_Slider
Joint node RJ7
Segment node R_Slider_Moving
Joint node RJ8
Segment node R_Rot
Joint node RJ9
Segment node R_Rot_Slider
Joint node RJ10
Segment node R_Rot_Slider_Moving
Joint node RJ11
Segment node R_Back
Joint node RJ14
Segment node R_base
Joint node RJ12
Segment node R_Knee
Joint node RJ13
Segment node R_Foot
The model was successfully loaded !
omniORB: To endpoint: giop:tcp:[::ffff:142.58.187.59]:36298. System exception MARSHAL(YES,MARSHAL_MessageSizeExceedLimitOnClient) while (un)marshalling. Send GIOP 1.2 MessageError.
omniORB: From endpoint: giop:tcp:142.58.187.59:35177. Detected GIOP 1.2 protocol error in input message. giopImpl12.cc:300. Connection is closed.
Traceback (most recent call last):
File "/usr/local/bin/simtrans", line 9, in
load_entry_point('simtrans===1f536da-dirty', 'console_scripts', 'simtrans')()
File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da_dirty-py2.7-linux-x86_64.egg/simtrans/cli.py", line 223, in main
m = read(options.fromfile, handler, options)
File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da_dirty-py2.7-linux-x86_64.egg/simtrans/cli.py", line 118, in read
m = reader.read(fromfile, assethandler=handler, options=options)
File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da_dirty-py2.7-linux-x86_64.egg/simtrans/vrml.py", line 131, in read
self._hrpshapes = self._model._get_shapes()
File "/usr/local/lib/python2.7/dist-packages/ModelLoader_idl.py", line 469, in _get_shapes
return _omnipy.invoke(self, "_get_shapes", _0_OpenHRP.ShapeSetInfo._d__get_shapes, args)
omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_UnMarshalResults, CORBA.COMPLETED_YES)

Do you know what is the problem here?!
Thank You

Choreonoid body format output

Thank you for the useful software, this is feature request.

Since the friction coefficients can be specified only in the body format in Choreonoid, I would like the feature to convert the VRML or URDF format model to the Choreonoid body format model.

Support direct conversion from dae mesh to wrl mesh

For our convenience.

Possibly from stl mesh to wrl mesh as well.

Convert SDF revolution2 joint to two VRML joints

Currently revolution2 joint type is not supported.

Support <static>true</static>

This should be probably supported by inserting "staticModel: true" to choreonoid project file.

ref:
https://github.com/s-nakaoka/choreonoid/blob/master/src/BodyPlugin/BodyItem.cpp#L1231

SDF <pose> tag under <joint> tag ineffective when converting to VRML

All of the DRC models we used to develop simtrans was using <use_parent_model_frame> set to "true" and used the link model already translated to (0,0) position.

We need to consider tag under tag to handle more general SDF based models.

Free joint links are not converted when contained with fixed root joint link

e.g. debris in Task_R5 and nozzle in Task_R6

変換したwrlをChoreonoidで使う場合

変換したwrlをChoreonoidで使う場合に，関節スライダに関節が全く現れません．

http://fkanehiro.github.io/simtrans/html-ja/usage.html
に従って，
rosrun xacro xacro.py rospack find pr2_description/robots/pr2.urdf.xacro > /tmp/pr2.urdf
simtrans -i /tmp/pr2.urdf -o /tmp/pr2.wrl
を実行し，Choreonoidを起動して，メニューのファイル→読み込み→OpenHRPモデルファイルで/tmp/pr2.wrlを読み込みました．メッセージビューには，
OpenHRP モデルファイル "/tmp/pr2.wrl" を読み込み中
Warning: Joint ID 20 is duplicated.
Warning: Joint ID 38 is duplicated.
Warning: Joint ID 14 is not specified.
Warning: Joint ID 32 is not specified.
-> 完了!
と表示されています．また，アイテムビューの「base_footprint」をチェックすると，シーンビューにロボットが表示されます．しかし，関節スライダビューには何も表示されません．さらに，関節スライダビューの「ラジアン」ボタンをクリックすると，コアダンプします．何がまずいのでしょうか？

環境は，Ubuntu 14.04 64bit，Choreonoidはppaからインストールしたもの，simtransは，
http://fkanehiro.github.io/simtrans/html-ja/install.html
の通りにインストールしたものです．

解決のためのヒントをご教示いただけると幸いです．よろしくお願いいたします．

ｓｄｆの<model>タグの内側で<include>タグを使うとエラーになる

以下のようなエラーが発生する。

Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans==e0c4273', 'console_scripts', 'simtrans')()
  File "/usr/local/lib/python2.7/dist-packages/simtrans-e0c4273-py2.7.egg/simtrans/cli.py", line 108, in main
    model = reader.read(options.fromfile, assethandler=handler)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-e0c4273-py2.7.egg/simtrans/sdf.py", line 76, in read
    name = i.find('name').text
AttributeError: 'NoneType' object has no attribute 'text'

axis of cylinder in sdf yet seems to be wrong

e.g. collision shape of atlas

URDFでスペース入りの関節名が指定された場合はVRMLへの変換時にスペースを_に変換する

SDF <pose> tag under root <link> ineffective when converting to VRML

Should be converted to "translation" attribute of root "free" joint.

"fixed" joint case seems to be working OK.

urdf to wrl convertor has an error

Hi

I am trying to convert a urdf file to wrl and I am using following command:
simtrans -i file.urdf -o file.wrl

But I am getting following error. Do you know the reason for this error?

Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans===1f536da', 'console_scripts', 'simtrans')()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 542, in load_entry_point
    return get_distribution(dist).load_entry_point(group, name)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2569, in load_entry_point
    return ep.load()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2229, in load
    return self.resolve()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2235, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da-py2.7-linux-x86_64.egg/simtrans/cli.py", line 27, in <module>
    from . import urdf
  File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da-py2.7-linux-x86_64.egg/simtrans/urdf.py", line 51, in <module>
    from . import collada
  File "/usr/local/lib/python2.7/dist-packages/simtrans-1f536da-py2.7-linux-x86_64.egg/simtrans/collada.py", line 33, in <module>
    import collada
  File "/usr/local/lib/python2.7/dist-packages/collada/__init__.py", line 48, in <module>
    from collada import schema
  File "/usr/local/lib/python2.7/dist-packages/collada/schema.py", line 27, in <module>
    'resources/schema-1.4.1.xml').decode('utf-8'))
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 1184, in resource_string
    self, resource_name
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 1457, in get_resource_string
    return self._get(self._fn(self.module_path, resource_name))
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 1580, in _get
    with open(path, 'rb') as stream:
IOError: [Errno 2] No such file or directory: '/usr/local/lib/python2.7/dist-packages/collada/resources/schema-1.4.1.xml'

Thank You

dotへの変換でエラー

チュートリアルに記載の手順でpr2.urdfをpr2.dotに変換しようとすると以下のエラーが表示されます。

Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans==408bb45', 'console_scripts', 'simtrans')()
  File "/usr/local/lib/python2.7/dist-packages/simtrans-408bb45-py2.7.egg/simtrans/cli.py", line 193, in main
    writer.write(m, options.tofile, options=options)
TypeError: write() got an unexpected keyword argument 'options'

cnoidファイルからのVRMLファイルの参照は相対パスにする

ポータビリティ向上のため。

sdfからvrmlへの変換でエラー

チュートリアルの記載で生成された/tmp/pa10/model.sdfをvrmlに変換しようとすると、以下のエラーが発生します。

Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans==408bb45', 'console_scripts', 'simtrans')()
  File "/usr/local/lib/python2.7/dist-packages/simtrans-408bb45-py2.7.egg/simtrans/cli.py", line 193, in main
    writer.write(m, options.tofile, options=options)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-408bb45-py2.7.egg/simtrans/vrml.py", line 427, in write
    c.name = l.name + "-collision-" + str(uuid.uuid1()).replace('-', '')
NameError: global name 'uuid' is not defined

travisによるエラー検出が不十分

.travis.sh内のpython setup.py installが失敗しても通ってしまう。

URDFでSTLの形状に対するmaterialタグでの色付けが反映されない

screenshots

スクリーンショット画像をレポジトリには置きたくないため、ここに置いていきます。
参考：
http://blog.davidebbo.com/2014/11/using-issues-for-github-pages-screenshots.html

sdf to dae conversion problem

Hello

I am trying to convert a robot sdf file to .dae and I am using this command in the terminal:
simtrans -i "filename.sdf" -o "filename.dae"

But it gives me several warnings for each part of the robot such as:

INFO validating link base_link
WARNING the inertia matrix is far from the values estimated from bounding box of the shapes
or
WARNING jointId not set

and in the output in doesn't have all parts transferred to .dae.
I don't get where is the problem. Can you help me with this? If you need more information or codes please inform me.

Thank you
Best Regards

wrl->urdfでプリミティブが変換されない

Extension of the package

Dear fkanehiro,

First of all thank you very much developing this exciting package to transfer models between platforms. Currently I plan to extend the simtrans package to my needs. I have made a fork will be developing from there. If you are interested I would like to discuss with you about my plans for the extensions and see if we can integrate with the original package. In the repository I am unable to find any license or crediting details so that I can credit/acknowledge that it is a fork from your package.
Let me know how I can proceed.

Looking forward to your reply. Thank you

support VRML collision tag

Catch up with recent change in choreonoid.

https://github.com/s-nakaoka/choreonoid/blob/master/share/model/GR001/GR001.wrl#L501

Add option to select from visual shape or collision shape when converting from SDF or URDF to VRML

Currently we are using visual shape only (option is fixed).

wrl->urdf->wrlで変換エラー

openhrp3のpa10.main.wrlをurdfに変換し、変換したurdfをwrlに変換しようとすると以下のエラーになる。

2015-12-14 09:27:43 tetsujin3 root[6923] INFO simtrans (version 9d161b7_dirty-py2.7.egg)
2015-12-14 09:27:43 tetsujin3 root[6923] INFO converting from: /tmp/pa10.urdf
2015-12-14 09:27:43 tetsujin3 root[6923] INFO              to: /tmp/pa10.wrl
Error [parser_urdf.cc:2768] Unable to call parseURDF on robot model
Error [parser.cc:278] parse as old deprecated model file failed.
Error: SDF parsing the xml failed
Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans==9d161b7-dirty', 'console_scripts', 'simtrans')()
  File "/usr/local/lib/python2.7/dist-packages/simtrans-9d161b7_dirty-py2.7.egg/simtrans/cli.py", line 174, in main
    m = reader.read(options.fromfile, assethandler=handler, options=options)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-9d161b7_dirty-py2.7.egg/simtrans/urdf.py", line 67, in read
    m = reader.read(fname, assethandler)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-9d161b7_dirty-py2.7.egg/simtrans/sdf.py", line 79, in read
    d = lxml.etree.parse(open(sdffile))
  File "lxml.etree.pyx", line 3239, in lxml.etree.parse (src/lxml/lxml.etree.c:69955)
  File "parser.pxi", line 1769, in lxml.etree._parseDocument (src/lxml/lxml.etree.c:102257)
  File "parser.pxi", line 1789, in lxml.etree._parseFilelikeDocument (src/lxml/lxml.etree.c:102516)
  File "parser.pxi", line 1684, in lxml.etree._parseDocFromFilelike (src/lxml/lxml.etree.c:101442)
  File "parser.pxi", line 1134, in lxml.etree._BaseParser._parseDocFromFilelike (src/lxml/lxml.etree.c:97069)
  File "parser.pxi", line 582, in lxml.etree._ParserContext._handleParseResultDoc (src/lxml/lxml.etree.c:91275)
  File "parser.pxi", line 683, in lxml.etree._handleParseResult (src/lxml/lxml.etree.c:92461)
  File "parser.pxi", line 622, in lxml.etree._raiseParseError (src/lxml/lxml.etree.c:91757)
lxml.etree.XMLSyntaxError: Document is empty, line 1, column 1

Add function to export project file (choreonoid .cnoid format)

sdf can contain multiple model using <include> tag and it can express the whole world with multiple models by using the same sdf.

Other hand, choreonoid and OpenHRP uses another format to express the world.

urdf->wrlでエラー

http://fkanehiro.github.io/simtrans/html-ja/usage.htmlに従って変換しているのですが、

leus@leus-HP-Z620-Workstation:~$ rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf

leus@leus-HP-Z620-Workstation:~$ simtrans -i /tmp/pr2.urdf -o /tmp/pr2.wrl
2015-11-11 21:41:52 INFO simtrans (version cc56235-py2.7.egg)
2015-11-11 21:41:52 INFO converting from: /tmp/pr2.urdf
2015-11-11 21:41:52 INFO              to: /tmp/pr2.wrl
Traceback (most recent call last):
  File "/usr/local/bin/simtrans", line 9, in <module>
    load_entry_point('simtrans==cc56235', 'console_scripts', 'simtrans')()
  File "/usr/local/lib/python2.7/dist-packages/simtrans-cc56235-py2.7.egg/simtrans/cli.py", line 174, in main
    m = reader.read(options.fromfile, assethandler=handler, options=options)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-cc56235-py2.7.egg/simtrans/urdf.py", line 67, in read
    m = reader.read(fname, assethandler)
  File "/usr/local/lib/python2.7/dist-packages/simtrans-cc56235-py2.7.egg/simtrans/sdf.py", line 71, in read
    d = subprocess.check_output(['gz', 'sdf', '-p', utils.resolveFile(fname)])
  File "/usr/lib/python2.7/subprocess.py", line 566, in check_output
    process = Popen(stdout=PIPE, *popenargs, **kwargs)
  File "/usr/lib/python2.7/subprocess.py", line 710, in __init__
    errread, errwrite)
  File "/usr/lib/python2.7/subprocess.py", line 1327, in _execute_child
    raise child_exception
OSError: [Errno 2] No such file or directory

というエラーが出てしまいます。