[Robotics] Feedback on MORSE installation instructions...

Wed Jan 12 13:45:27 CET 2011

On Tue, Jan 11, 2011 at 11:11 PM, Alexey Zakharov <alexey.zakharov at gmail.com
> wrote:

> 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.
>

Alexey,

I am aware of this difference, but I hadn't come across a use case where 1.4
and 1.5 files were mixed together. What you mention below is a very valid
point, and something to definitely take into account.
...

>
> 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.
>
>
I very much appreciate the comments below.

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.
>

Falling victim of the language barrier here ;).

I hope this post serves other list readers as much as it served me. Best
regards,

Adolfo.

> 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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