This script convert_nue_to_enu_rub_to_flu.py intends to help you to adapt your world or PROTOs from an old version to the new version of Webots. , but there are numerous exceptions to this rule as we haven't followed any specific convention Required rotation to preserve the old behavior In any case, it is important to understand how Webots nodes are affected by the update and how they should be rotated to preserve the old behavior: Node Instead of the backward compatibility algorithm, this script can perform children nodes conversion and takes in charge some of the Webots PROTOs which can be useful to avoid to rotate them by hand. If your world or PROTO is too complex to be handled by hand, you should directly use the script to convert it to ENU/FLU (see automatic conversion to ENU FLU). If your world or PROTO does not contain too many objects, you should simply adapt them as wanted using the interface and save it. Nevertheless, the mechanism has limited capabilities and it is likely you will need to assist the world adaptation. It will keep the same axis orientation and objects axis system you had before but it will rotate the geometries and devices to retrieve the old behavior. This mechanism will be launched when you open a world in the R2022a version. We introduced a backward compatibility mechanism (see #3619) to adapt worlds automatically. How to adapt your world or PROTO to Webots R2022a Backward compatibility mechanism Spot.wbt in 2022a: spot is FLU and the world is ENU. Spot.wbt in 2021b: spot is RUB and the world is NUE. If your Webots world uses Webots geometries, devices, and PROTOs then you will probably need to adapt your world. We introduced the update to be consistent with ROS (see REP 103) and other robotics systems. Starting from the R2022a version, all geometries, devices, and PROTOs that come with Webots use the FLU axis orientation (x- Forward, y- Left, and z- Up, see #3073). New axis system for geometries, devices, and PROTOs
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