[Robotics] Feedback on MORSE installation instructions...
Herman Bruyninckx
Herman.Bruyninckx at mech.kuleuven.be
Sun Jan 16 19:27:14 CET 2011
On Sun, 16 Jan 2011, Alexey Zakharov wrote:
> 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.
Thanks!
In the same context: here is a message from today's "Blender developer meeting"
notes:
"- COLLADA: Ton had a concerned mail from COLLADA lead Remi Arnaud, he
and Khronos offer their support, they also would love to see Blender
to soon get the official Khronos Conformancy Badge! Nathan Letwory is
in contact with Remi to check on what can be done together.
"
> Best regards,
> Alexey
Herman
>
> 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 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 mightbe interested in http://www.amazon.de/Datenaustausch-Anlagenplanung-mit-Automat
> ionML-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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--
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network) <http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>
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