[Robotics] Feedback on MORSE installation instructions...

Sun Jan 16 18:31:22 CET 2011

Dear MORSE developers,

As promised, I started to upload collada 1.5 related code and models.
Here is the link to my github:
https://github.com/zakharov/blenderColladaKinematics

I started with a collection of kinematics models, which could serve as the
reference models for future Blender exporter/importer. If you have more
models, you are welcome to contribute. It would help me a lot.

You also can find a simple unit test, which runs a validation procedure to
make sure, that all the models are compatible against COLLADA 1.5
scheme.  Actually, the unit test showed, that models are OK, but openCOLLADA
has bug itself. :)  It crashes, when parsing models with
<articulated_system> tag. I reported about the bug, hope it will be fixed
soon.

Will upload alfa version of the importer in several weeks.

Best regards,
Alexey

2011/1/12 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

>
>
> 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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>>>>>
>>>>
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