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Webots to URDF Model Converter

asked 2014-03-20 05:41:38 -0500

updated 2016-10-24 08:59:17 -0500

ngrennan gravatar image

Is there any existing work out there on a converter that allows generating URDF from Webots models? I´d be interested in anything useful for that task (also partial implementations, hints, etc.).

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answered 2021-07-28 01:47:30 -0500

lukicdarkoo gravatar image

Webots now can export URDF files. You can right-click on a robot, click Export, and save it as your_robot_name.urdf. Or, you can use the wb_robot_get_urdf API function:

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answered 2014-03-20 22:38:30 -0500

updated 2014-03-20 22:44:29 -0500


There is no such tool to my knowledge. We recently developed a python script doing the reverse operation: converting a URDF file to a Webots PROTO file, I could share it with you if you are interested.

Please note however that most of the models provided within Webots are not licensed under a free open source license. Therefore, you are not allowed to redistribute modified or converted versions of these models, unless you get the official approval of the the copyright owner to do so (copyright owners of the models distributed in Webots include Cyberbotics and various companies and individuals). Please contact me if you have questions about a specific model.

Also, it may be interesting for you: the latest version of Webots, e.g., Webots 7.4.1, include a native generic ROS interface running in all versions of Webots, e.g., Windows, Mac OS X and Linux. This means that any robot in Webots can be connected to the ROS network out of the box, without installing or recompiling anything. See the documentation on Cyberbotics web site (google for ROS Webots).

Best regards,

-Olivier Michel Cyberbotics Ltd., CEO

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Thanks Olivier! I´ll get back to you if it turns out the inverse operation would be useful. The model I have in mind is non-public/custom made, but licensing terms will of course always be followed.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-03-24 22:31:40 -0500 )edit

Hello, I have a problem when making the transformation of urdf webots, because when I use mobile robots on the wheels the colaiders become square and do not follow the shape of the wheel, which causes an unwanted movement in the robot, thanks

lfrecalde1 gravatar image lfrecalde1  ( 2020-12-13 09:45:25 -0500 )edit

What are you trying to do? Convert a URDF model to a Webots PROTO using webots2urdf and use it in Webots? If so, could you please open an issue and provide all the details, including files, allowing us to reproduce the problem and hopefully fix it.

Olivier Michel gravatar image Olivier Michel  ( 2020-12-14 01:26:12 -0500 )edit

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Asked: 2014-03-20 05:41:38 -0500

Seen: 1,747 times

Last updated: Jul 28 '21