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urdf_to_collada disrupts the robot model

asked 2014-11-20 07:09:33 -0600

dmeltz gravatar image

updated 2014-11-30 07:36:56 -0600

Hello all

I am interesting in creating a single Collada model out of my robot URDF. I probably doing some thing wrong her a simple example :
my rob.URDF file is :

    <?xml version="1.0"?>
<robot name="my_rob">
  <link name="base_cylinder">
    <visual>
      <geometry>
        <cylinder length="1" radius="0.1"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 .8 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
         <cylinder length="1" radius="0.1"/>
      </geometry>
    </collision> 
  </link>

  <link name="head_box">
    <visual>
      <geometry>
        <box size="0.4 0.4 0.4"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.3 0.3 0.3"/>
      </geometry>
    </collision>
  </link>

  <joint name="my_box_joint" type="fixed">
    <parent link="base_cylinder"/>
    <child link="head_box"/>
    <origin xyz="0 0 0.7"/>
  </joint>

</robot>

in the RVIZ my model seems OK : image description

but after i execute :

rosrun collada_urdf urdf_to_collada rob.URDF rob.dae

my rob.dae file looks like this in MeshLab :

image description

What am i doing wrong ?

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2 Answers

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answered 2014-11-25 04:28:16 -0600

My experience has been that urdf_to_collada has difficulties with primitives such as boxes and cylinders in the past. I'd thus recommend generating simple meshes for your geometries and then retrying the conversion.

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Comments

I tried to use STL meshes, as you suggested, but unfortunately it does not helps. Maybe you can direct me to a working example ?

dmeltz gravatar imagedmeltz ( 2014-11-30 07:35:18 -0600 )edit

I previously succesfully converted the atlas_v3 ( https://bitbucket.org/osrf/drcsim/src... ) model to the OpenRAVE COLLADA format, which is pretty complex (>20 links and joints etc.).

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2014-11-30 15:05:15 -0600 )edit
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answered 2015-07-15 03:40:55 -0600

Kei Okada gravatar image

I suspect, when we use meshlab, it does not understand "joint" information so they display everything without understanding kinematics, please try urdf_tutorial display.launch model:=hoge.dae, this may display what you want.

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Asked: 2014-11-20 07:09:33 -0600

Seen: 264 times

Last updated: Jul 15 '15