Fix missing cw name tag for cadShape. (#185) (#187)

* Fix missing cw name tag for cadShape. (#185) * Update parserURDF.py * restored fix * Fixed one test * Fixed another test * Fixed another test Co-authored-by: Alexander Stumpf <[email protected]>
cyberbotics · Sep 30, 2022 · e337854 · e337854
1 parent 597d2b9
commit e337854
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Showing 4 changed files with 8 additions and 3 deletions.
diff --git a/tests/expected/Human.proto b/tests/expected/Human.proto
@@ -315,7 +315,10 @@ PROTO Human [
                               Transform {
                                 scale 1.000000 -1.000000 1.000000
                                 children [
-                                  USE Calcn_L_visual
+                                  DEF Calcn_L_visual_cw CadShape {
+                                    url "root://tests/sources/gait2392_simbody/meshes/obj/Calcn L.obj"
+                                    ccw FALSE
+                                  }
                                 ]
                               }
                               HingeJoint {

diff --git a/tests/expected/KukaLbrIiwa14R820.proto b/tests/expected/KukaLbrIiwa14R820.proto
@@ -141,7 +141,7 @@ PROTO KukaLbrIiwa14R820 [
                                         Transform {
                                           scale -1.000000 -1.000000 -1.000000
                                           children [
-                                            DEF link_5_visual CadShape {
+                                            DEF link_5_visual_cw CadShape {
                                               url "root://tests/sources/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae"
                                               ccw FALSE
                                             }

diff --git a/tests/expected/KukaLbrIiwa14R820.txt b/tests/expected/KukaLbrIiwa14R820.txt
@@ -116,7 +116,7 @@ Robot {
                                       Transform {
                                         scale -1.000000 -1.000000 -1.000000
                                         children [
-                                          DEF link_5_visual CadShape {
+                                          DEF link_5_visual_cw CadShape {
                                             url "root://tests/sources/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae"
                                             ccw FALSE
                                           }

diff --git a/urdf2webots/parserURDF.py b/urdf2webots/parserURDF.py
@@ -573,6 +573,8 @@ def getVisual(link, node, path):
                 name = os.path.splitext(os.path.basename(meshfile))[0]
                 if extension in ['.dae', '.obj'] and targetVersion >= 'R2022b':
                     name += '_visual'
+                if not visual.geometry.cadShape.ccw:
+                    name += '_cw'
                 if not visual.geometry.mesh.ccw:
                     name += '_cw'
                 if name in Geometry.reference: