luca-della-vedova / models_to_sdf Goto Github PK

Folder structure based on the SDF requirements for the Model Database Structure

1. Manipulate folders:

• copies contents from the original folder into the specified folder
• move the contents into a created "meshes" folder

2. Creates SDF templates based on the folder and model names

• Copies existing sdf from the script
• Edits the sdf to the name of the folder and models

Artist exports models with textures into one folder

Folder contents:

• Model base meshes (supports .obj only)
• Model joints/wheels or parts meshes
• Collision model meshes (low poly)
• Model textures (recommended to use .png)

Example folder might look like this:

Sesto

• Sesto.obj
• Sesto.mtl
• Sesto_Col.obj
• Sesto_Col.mtl
• SestoWheel.obj
• SestoWheel.mtl
• SestoWheel_Col.obj
• SestoWheel_Col.mtl
• Sesto_Diffuse.png, etc

Take note of the above:

• Model and folder has the same name.
• Collision model has a _Col at the end of the name.

Make sure this folder doesn't exist in the output directory.

1. Open a terminal from the models_to_sdf/ directory
2. Type in python3 models_to_sdf.py
3. Type in the --input directory where the models and textures are exported. Eg: ~/Documents/models/robots/sesto
4. Type out the --output directory where the gazebo models are exported. Eg: ~/Dropbox/models/

Your line should look something like this:

python3 models_to_sdf.py --input ~/Documents/models/robots/sesto --output ~/Dropbox/models/

1. Open a terminal from the models_to_sdf\ directory
2. Run py -3 models_to_sdf.py
3. Type in the --input directory where the models and textures are exported. Eg: C:\Documents\models\robots\sesto
4. Type out the --output directory where the gazebo models are exported. Eg: C:\Dropbox\models

py -3 models_to_sdf.py --input C:\Documents\models\robots\sesto --output C:\Dropbox\models

In case you come across any issues - https://stackoverflow.com/a/26616078

• clean it up
• get it to check if the folder exists or not