[Robotics] Feedback on MORSE installation instructions...

Tue Jan 11 23:11:55 CET 2011

Good evening Adolfo,

Initially I tried ColladaDOM, but there was a linking problem, when one
tries to use 1.4 and 1.5 libraries simultaneously. So I switched to
OpenCollada. Together with my colleges we have contributed a cmake project
for openCollada, http://code.google.com/p/opencollada/issues/detail?id=4.
It should be no problem to compile on Linux, MacOS and Windows. However in
windows it could be compiled as a static library only. In addition we have a
simple self-made collada importer based on tinyXML, which can load
geometries and corresponding kinematics models.

In BRICS project our group deals with manipulation, 3d perception and
navigation algorithms for mobile manipulators
http://www.best-of-robotics.org/. I am using collada 1.5 as a robot
description format and collada 1.4 for environment (google warehouse has
great library of models). Usually I am using blender or google sketchup to
compose a simulation scene and export it to the collada. Next I take this
exported scene to test our algorithms, for example path planning for mobile
manipulator.

There are several Collada for robotics initiatives, the biggest and the most
close one is AutomationML http://www.automationml.org/. OpenCollada was
developed and is supported by one of  the companies from that initiative.

collada_urdf <http://www.ros.org/wiki/collada_urdf> is a converter, I have
used it to build Care-O-Bot 3 model. In general it works fine, except I had
to fix geometry transformations after. They were somehow doubled.

Their is also a GRASP project http://opengrasp.sourceforge.net/Features.html.
They extended blender'd 2.4x collada loader towards kinematics support.

OpenRave has lots of activities towards better collada support. It uses its
own fork of the ColladaDOM loader.

All these project overlap, because they are using main Collada data
structured geometry and kinematics related. It seems, that OpenRave and
AutomationML are using MathML. OpenRave has it's own profile to store
sensors and algorithms parameters.

There is a book you might be interested in
http://www.amazon.de/Datenaustausch-Anlagenplanung-mit-AutomationML-Integration/dp/3642046738.
Unfortunately it
is available in German only.

That's basically it.

Best regards,
Alexey

2011/1/10 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

>
>
> On Mon, Jan 10, 2011 at 11:21 AM, Alexey Zakharov <
> alexey.zakharov at gmail.com> wrote:
>
>> Hello Adolfo,
>>
>> I would say the second case, the project itself is not specific to
>> Collada support in Blender. But I am actively using Bledner for modeling
>> purpose and would like to contribute.
>>
>
> Alexey,
>
> I'm a big advocate of using Collada in robotics, and I'm in the process of
> looking out what's out there. I'd like to understand the scope of your
> project, and so have some additional questions. Are you using OpenCollada to
> access Collada files?; also, what parts of your project are (will be)
> Blender-agnostic, and which are Blender-specific?. I ask these questions
> because I'm trying to grasp where the current Collada-related initiatives in
> robotics stand (yours, [1], [2]), especially the extent to which they
> overlap or complement each other.
>
> Thanks in advance,
>
> Adolfo.
>
> [1] http://openrave.programmingvision.com/index.php/Started:COLLADA
> [2] http://www.ros.org/wiki/collada_urdf
>
>
>>
>> Best regards,
>> Alexey
>>
>>
>> 2011/1/10 Adolfo Rodríguez Tsouroukdissian <
>> adolfo.rodriguez at pal-robotics.com>
>>
>>>
>>>
>>> On Sun, Jan 9, 2011 at 10:31 PM, Alexey Zakharov <
>>> alexey.zakharov at gmail.com> wrote:
>>>
>>>> Dear Severin and MORSE developers
>>>> Thanks for the interest.
>>>> I forgot to introduce myself. I am a software developer in GPS gmbh
>>>> (Stuttgart). Together with University of Leuven we are participating in EU
>>>> project "BRICS", best practices in robotics.
>>>> We are using collada as a data exchange file format, because it is
>>>> capable to represent mobile manipulators. So far to create a model, I have
>>>> to use a text editor and do everything manually and spend lots of time.
>>>> Blender already has a basic support of collada format based on OpenCollada
>>>> loader, however kinematics part and better support for different types of
>>>> geometrical primitives (e.g triangles, triangle fans, and etc.) are missing.
>>>>
>>>> I have made initial effort already: collected a number of reference
>>>> models and started to extend loader. At the moment it is just a proof of
>>>> concept. It could load simple collada model and maps its kinematics to an
>>>> armature. If some one has a C++ example how to create and edit armature in
>>>> Blender, it would help a lot.
>>>>
>>>> I plan to upload everything on git. May be we could add it to the MORSE
>>>> repository as well.
>>>>
>>>
>>> Alexey,
>>>
>>> Is the scope of your project specific to Collada support in Blender, or
>>> are parts of it Blender-agnostic?.
>>>
>>> TIA,
>>>
>>> Adolfo
>>>
>>>
>>>
>>> --
>>> Adolfo Rodríguez Tsouroukdissian, Ph. D.
>>>
>>> Robotics engineer
>>> PAL ROBOTICS S.L
>>> http://www.pal-robotics.com
>>> Tel. +34.93.414.53.47
>>> Fax.+34.93.209.11.09
>>>
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