[Robotics] COLLADA 1.5 armature support?

[Séverin Lemaignan]

After a look to the Collada spec, what Blender supports are joints for 
animation skeletons and skin (page 110 of Collada 1.5 spec). These 
joints do not support limits for instance (only a transformation matrix).

What OpenRAVE emits are (rightfully) kinematic models (chap. 10, p. 435 
of Collada spec). These are apparently not supported by the Collada 
Blender importer. It should be however quite doable to add this feature 
to the importer (since it has similar effects as the existing skeleton 
system).

You may want to give it a look...

Cheers,
Severin

On 02/06/2013 02:24 AM, William Hilton wrote:
> Hi Severin,
> I started looking at the actual XML, and have decided COLLADA is more
> complicated than I would have thought! There may be multiple ways to
> define an armature, and maybe my .dae file doesn't do it in a way
> Blender understands. Honestly, I don't know if the problem lies in
> Blender's import. For all I know, it could be in how OpenRAVE exports
> the model to .dae.
>
> Here's the file I am trying to use. It's 6MB so I'll put it in Google Docs.
> https://docs.google.com/file/d/0B7vT3fhK-GBERGVDc0lWTVpBZnM/edit?usp=sharing
> Will
>
> --
> William Hilton
> MET-lab PhD Student, ECE Department, Drexel University
> Website: http://music.ece.drexel.edu/people/wmhilton
> Email: wmhilton at drexel.edu <mailto:wmhilton at drexel.edu>
> SMS: 513-368-5411
>
>
> On Tue, Feb 5, 2013 at 3:24 PM, Séverin Lemaignan
> <severin.lemaignan at laas.fr <mailto:severin.lemaignan at laas.fr>> wrote:
>
>     After some collada + armatures testing (namely, exporting
>     kuka_arm.blend to collada and re-importing, and importing this
>     collada file [1], with blender 2.65a), I get mixed results:
>     the Kuka model is garbage when I re-import it, while the collada
>     sample [1] looks fine.
>
>     So it is possible the Blender Collada *exporter*  does not work well
>     with armatures. Can you share a collada model you would like to import?
>
>     Cheers,
>     Severin
>
>     [1]
>     http://anima-animation-sample.__googlecode.com/svn-history/__r11/trunk/Models/cubes2.dae
>     <http://anima-animation-sample.googlecode.com/svn-history/r11/trunk/Models/cubes2.dae>
>
>
>     On 05/02/2013 20:15, William Hilton wrote:
>
>         Yes, I should have mentioned I am using the latest version of
>         Blender
>         (2.65a).
>
>
>
>     --
>               Séverin Lemaignan - severin.lemaignan at laas.fr
>     <mailto:severin.lemaignan at laas.fr>
>
>       [00]    Post-doctoral fellow in Cognitive Robotics
>     /|__|\   LAAS-CNRS - RIS group
>        '' +33561337844 <tel:%2B33561337844>
>     http://www.laas.fr/~slemaign
>
>

-- 
           Séverin Lemaignan - severin.lemaignan at laas.fr
   [00]    Post-doctoral fellow on Cognitive Robotics
  /|__|\   LAAS-CNRS - RIS group
    ''     +33561337844
           http://www.laas.fr/~slemaign