Add support for R2025a (#216)

* Add support for R2025a

* fix

* version

Author: lukicdarkoo

setup.py

@@ -5,7 +5,7 @@
 
 setuptools.setup(
     name='urdf2webots',
-    version='2023.1.0',
+    version='2025.0.0',
     author='Cyberbotics',
     author_email='[email protected]',
     description='A converter between URDF and PROTO files.',

tests/expected/Human.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the Human

tests/expected/KukaLbrIiwa14R820.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the KukaLbrIiwa14R820

tests/expected/MotomanSia20d.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the MotomanSia20d

tests/expected/RobotWithDummyLink.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the RobotWithDummyLink

tests/expected/RobotWithLocalMeshes.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2023b utf8
+#VRML_SIM R2025a utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the RobotWithLocalMeshes

urdf2webots/importer.py

@@ -60,7 +60,7 @@ def mkdirSafe(directory):
 
 def convertUrdfFile(input=None, output=None, robotName=None, normal=False, boxCollision=False,
                     toolSlot=None, initTranslation='0 0 0', initRotation='0 0 1 0',
-                    initPos=None, linkToDef=False, jointToDef=False, relativePathPrefix=None, targetVersion='R2023b'):
+                    initPos=None, linkToDef=False, jointToDef=False, relativePathPrefix=None, targetVersion='R2025a'):
     """Convert a URDF file into a Webots PROTO file or Robot node string."""
     urdfContent = None
     if not input:
@@ -95,7 +95,7 @@ def convertUrdfFile(input=None, output=None, robotName=None, normal=False, boxCo
 
 def convertUrdfContent(input, output=None, robotName=None, normal=False, boxCollision=False,
                        toolSlot=None, initTranslation='0 0 0', initRotation='0 0 1 0',
-                       initPos=None, linkToDef=False, jointToDef=False, relativePathPrefix=None, targetVersion='R2023b'):
+                       initPos=None, linkToDef=False, jointToDef=False, relativePathPrefix=None, targetVersion='R2025a'):
     """
     Convert a URDF content string into a Webots PROTO file or Robot node string.
     The current working directory will be used for relative paths in your URDF file.
@@ -177,7 +177,7 @@ def convertUrdfContent(input, output=None, robotName=None, normal=False, boxColl
                 sys.stderr.write('ROS not sourced, package "%s" will not be found.\n' % packageName)
         if os.path.split(directory)[1]:
             packagePath = os.path.split(directory)[0]
-            packagePath = packagePath.replace("\\","/")
+            packagePath = packagePath.replace("\\", "/")
             input = input.replace('package://' + packageName, packagePath + '/' + packageName)
         else:
             sys.stderr.write('Can\'t determine package root path.\n')
@@ -326,8 +326,8 @@ def convertUrdfContent(input, output=None, robotName=None, normal=False, boxColl
     parser.add_argument('--relative-path-prefix', dest='relativePathPrefix', default=None,
                         help='If set and --input not specified, relative paths in your URDF file will be treated relatively '
                         'to it rather than relatively to the current directory from which the script is called.')
-    parser.add_argument('--target', dest='targetVersion', default='R2023b',
-                        choices=['R2023b', 'R2023a', 'R2022b', 'R2022a', 'R2021b', 'R2021a', 'R2020b', 'R2020a'],
+    parser.add_argument('--target', dest='targetVersion', default='R2025a',
+                        choices=['R2025a', 'R2023b', 'R2023a', 'R2022b', 'R2022a', 'R2021b', 'R2021a', 'R2020b', 'R2020a'],
                         help='Sets the Webots version the PROTO will target (will adapt which nodes will be used).')
 
     args = parser.parse_args()

urdf2webots/parserURDF.py

@@ -17,7 +17,7 @@
 
 # to pass from external
 robotName = ''
-targetVersion = 'R2023b'
+targetVersion = 'R2025a'
 
 
 class Inertia():
@@ -676,7 +676,7 @@ def getCollision(link, node, path, outputDirectory):
                 collision.scale[2] = float(meshScale[2])
                 if (targetVersion >= 'R2023b' and collision.scale[0] != 1.0 and collision.scale[1] != 1.0
                         and collision.scale[2] != 1.0):
-                    print('\033[1;33mWarning: BoundingObjects (collisions tags) cannot be scaled in version R2023b!'
+                    print('\033[1;33mWarning: BoundingObjects (collisions tags) cannot be scaled in version R2023b and above!'
                           ' Please create a separate model.\033[0m')
                 if collision.scale[0] * collision.scale[1] * collision.scale[2] < 0.0:
                     if extension in ['.dae', '.obj', '.stl']:

urdf2webots/writeRobot.py

@@ -13,7 +13,7 @@
 linkToDef = False
 jointToDef = False
 indexSolid = 0
-targetVersion = 'R2023b'
+targetVersion = 'R2025a'
 
 
 class RGB():