file struktur
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chk
246
pipeline/precheck/json_to_urdf.py
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246
pipeline/precheck/json_to_urdf.py
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# json_to_urdf.py
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import json
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import math
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import xml.etree.ElementTree as ET
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from pathlib import Path
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from xml.dom import minidom
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# ============================================================
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# CONFIG
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# ============================================================
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ROBOT_JSON = "../../data/robot/robot.json"
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OUTPUT_URDF = "robot.urdf"
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# ============================================================
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# HELPERS
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# ============================================================
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def mm_to_m(v):
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return float(v) / 1000.0
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def vec_mm_to_m(v):
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return [mm_to_m(x) for x in v]
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def deg_to_rad(v):
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return math.radians(float(v))
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def vec_deg_to_rad(v):
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return [deg_to_rad(x) for x in v]
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def xyz_str(v):
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return f"{v[0]:.6f} {v[1]:.6f} {v[2]:.6f}"
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# ============================================================
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# LOAD JSON
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# ============================================================
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with open(ROBOT_JSON, "r", encoding="utf-8") as f:
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robot_json = json.load(f)
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links = robot_json.get("links", {})
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# ============================================================
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# ROOT
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# ============================================================
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robot_name = Path(ROBOT_JSON).stem
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robot = ET.Element("robot")
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robot.set("name", robot_name)
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# ============================================================
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# CREATE LINKS
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# ============================================================
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for link_name, link_info in links.items():
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urdf_link = ET.SubElement(robot, "link")
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urdf_link.set("name", link_name)
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# --------------------------------------------------------
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# VISUALS
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# --------------------------------------------------------
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models = link_info.get("model", [])
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for model in models:
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stl_file = model.get("stlFile")
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if not stl_file:
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continue
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visual = ET.SubElement(urdf_link, "visual")
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origin = ET.SubElement(visual, "origin")
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xyz = vec_mm_to_m(model.get("originOfModel", [0, 0, 0]))
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rpy = vec_deg_to_rad(model.get("rotationOfModelDegree", [0, 0, 0]))
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origin.set("xyz", xyz_str(xyz))
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origin.set("rpy", xyz_str(rpy))
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geometry = ET.SubElement(visual, "geometry")
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mesh = ET.SubElement(geometry, "mesh")
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mesh.set("filename", stl_file)
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mesh.set("scale", "0.001 0.001 0.001")
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# --------------------------------------------------------
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# SIMPLE COLLISION FROM SKELETON
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# --------------------------------------------------------
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skeleton = link_info.get("skeleton")
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if isinstance(skeleton, dict):
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p1 = skeleton.get("from", [0, 0, 0])
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p2 = skeleton.get("to", [0, 0, 0])
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dx = p2[0] - p1[0]
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dy = p2[1] - p1[1]
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dz = p2[2] - p1[2]
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length_mm = math.sqrt(dx * dx + dy * dy + dz * dz)
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length_m = mm_to_m(length_mm)
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radius_mm = skeleton.get("radius", 4)
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radius_m = mm_to_m(radius_mm)
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cx = (p1[0] + p2[0]) * 0.5
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cy = (p1[1] + p2[1]) * 0.5
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cz = (p1[2] + p2[2]) * 0.5
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collision = ET.SubElement(urdf_link, "collision")
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collision_origin = ET.SubElement(collision, "origin")
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collision_origin.set(
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"xyz",
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xyz_str(vec_mm_to_m([cx, cy, cz]))
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)
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# ----------------------------------------------------
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# CYLINDER ORIENTATION
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# URDF cylinder points along Z
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# ----------------------------------------------------
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roll = 0.0
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pitch = 0.0
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yaw = 0.0
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if abs(dx) >= abs(dy) and abs(dx) >= abs(dz):
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pitch = math.radians(90)
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yaw = 0.0
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elif abs(dy) >= abs(dx) and abs(dy) >= abs(dz):
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pitch = math.radians(90)
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yaw = math.radians(90)
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collision_origin.set(
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"rpy",
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xyz_str([roll, pitch, yaw])
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)
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geometry = ET.SubElement(collision, "geometry")
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cylinder = ET.SubElement(geometry, "cylinder")
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cylinder.set("radius", f"{radius_m:.6f}")
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cylinder.set("length", f"{length_m:.6f}")
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# ============================================================
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# CREATE JOINTS
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# ============================================================
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for link_name, link_info in links.items():
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parent_name = link_info.get("parent")
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if parent_name is None:
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continue
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joint_info = link_info.get("jointToParent", {})
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joint_name = joint_info.get("name", f"joint_{parent_name}_{link_name}")
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joint_type = joint_info.get("type", "fixed")
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if joint_type == "linear":
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urdf_joint_type = "prismatic"
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elif joint_type == "revolute":
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urdf_joint_type = "revolute"
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else:
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urdf_joint_type = "fixed"
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joint = ET.SubElement(robot, "joint")
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joint.set("name", joint_name)
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joint.set("type", urdf_joint_type)
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# --------------------------------------------------------
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# PARENT / CHILD
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# --------------------------------------------------------
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parent = ET.SubElement(joint, "parent")
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parent.set("link", parent_name)
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child = ET.SubElement(joint, "child")
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child.set("link", link_name)
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# --------------------------------------------------------
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# ORIGIN
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# --------------------------------------------------------
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origin_xyz = joint_info.get("origin", [0, 0, 0])
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origin_rpy = joint_info.get("rotation", [0, 0, 0])
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origin = ET.SubElement(joint, "origin")
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origin.set(
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"xyz",
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xyz_str(vec_mm_to_m(origin_xyz))
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)
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origin.set(
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"rpy",
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xyz_str(vec_deg_to_rad(origin_rpy))
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)
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# --------------------------------------------------------
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# AXIS
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# --------------------------------------------------------
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axis = joint_info.get("axis", [1, 0, 0])
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axis_tag = ET.SubElement(joint, "axis")
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axis_tag.set("xyz", xyz_str(axis))
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# --------------------------------------------------------
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# DEFAULT LIMITS
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# --------------------------------------------------------
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if urdf_joint_type in ["revolute", "prismatic"]:
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limit = ET.SubElement(joint, "limit")
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if urdf_joint_type == "revolute":
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limit.set("lower", f"{-math.pi:.6f}")
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limit.set("upper", f"{math.pi:.6f}")
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else:
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limit.set("lower", "-1.0")
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limit.set("upper", "1.0")
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limit.set("effort", "100")
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limit.set("velocity", "10")
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# ============================================================
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# PRETTY XML
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# ============================================================
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xml_string = ET.tostring(robot, encoding="utf-8")
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pretty = minidom.parseString(xml_string).toprettyxml(indent=" ")
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with open(OUTPUT_URDF, "w", encoding="utf-8") as f:
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f.write(pretty)
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print("URDF written:", OUTPUT_URDF)
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