[Robotics] COLLADA 1.5 armature support?

[ulbrich at ira.uka.de]

Hello,

an alternative is the RobotEditor that is part of the OpenGRASP  
project (http://opengrasp.sourcefoge.net).
The version on this homepage is outdated and works only with blender  
up to 2.49. However, we are currently
working on a newer version compatible with blender 2.6x and only  
Collada 1.5 import is not working yet.
It is in the official SVN and I will update the homepage within the  
next weeks. Note that it is in kind of a beta state.

svn co  
https://opengrasp.svn.sourceforge.net/svnroot/opengrasp/RobotEditor2/  
RobotEditor

You cannot use the plugin to directly export your armature. You rather  
have to use the plugin to create a new one with
annotations such as DH-parameters or acceleration/deceleration/joint  
speeds. The collada files should again work
with the newest version of OpenRAVE.

Under the hood, the regular collada export is used, and the resulting  
file is augmented by collada 1.5 tags (via python)
without additional dependencies -- installation is hence very easy.

I encourage you to try it out.

Best,
Stefan Ulbrich





Zitat von Séverin Lemaignan <severin.lemaignan at laas.fr>:

> 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
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