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Thread: collada kinematics 1.5 test files

  1. #1
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    collada kinematics 1.5 test files

    We've been trying to gather as many collada kinematics 1.5 test files, but unfortunately they are *very* difficult to find on the net. In the past we've used the Simple.dae, Weldinggun.dae, KR-150.dae, and KR360.dae files, but they do not test a lot of the new kinematics functionality. It would be really great to have more files using articulated systems and composition of robot parts to a whole robot. We would also like to create a unit test set for kinematics.

    any help would be appreciated in helping us write a solid collada reader/writer
    thank you,
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  2. #2

    Re: collada kinematics 1.5 test files

    Hello Rosen,

    we have many 1.5 files with included kinematics - I'll take a look which of them we can distribute freely.

    Sebastian

  3. #3

  4. #4
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    Re: collada kinematics 1.5 test files

    hi sebastian,

    thanks! please keep more coming.

    also, are we free in uploading these models in our own public repositories?
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  5. #5

    Re: collada kinematics 1.5 test files

    Hi,

    You're free to share the files under the Creative Commons Attributtion 3.0 Unported license.

    Sebastian

  6. #6
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    Re: collada kinematics 1.5 test files

    Here is youBot collada model. It is a test version, not finished yet.

  7. #7
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    Re: collada kinematics 1.5 test files


  8. #8
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    Re: collada kinematics 1.5 test files

    awesome! opening the file as is produced a small error at
    line 995: should be <rotate>?

    beyond that, everything was good.

    sebastian: how long do you think it would take to send more models?
    thanks!
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  9. #9
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    Re: collada kinematics 1.5 test files

    alexey,

    i forgot to mention that the newest openrave verison (r1835) supports the articulated_system tags and other custom robot information.

    we're maintain a wiki here for it:

    http://openrave.programmingvision.com/i ... ed:COLLADA

    if you can use the articulated_system tag and inside it define a manipulator, then you should be able to start using the youBot robot with the openrave planning system right away. here's a simple barretthand example:

    http://www.programmingvision.com/newbarretthand.tgz

    (these sample files are going to be in openrave eventually, so the above url will not be valid for long)

    anyway, i can help with any problems.
    Rosen Diankov
    Department of Mechano-Informatics, University of Tokyo
    http://openrave.org

  10. #10
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    Re: collada kinematics 1.5 test files

    Interesting. I will check that. Do you also have any models to share (expect for PR2 an COB3 which are in OpenRAVE)?
    >>sebastian: how long do you think it would take to send more models?
    >>thanks!

    I think it is better, if we post all available models here.

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