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There is a usage example:
https://github.com/cyberbotics/urdf2webots#usage

So you should call:
python3 -m urdf2webots.importer --input=someRobot.urdf

There is a usage example:
https://github.com/cyberbotics/urdf2webots#usage

So you should call:

 python3 -m urdf2webots.importer --input=someRobot.urdf --input=someRobot.urdf

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