Converting Collada to URDF

asked 2012-05-17 04:08:10 -0600

mjp
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Hi all,

I know that there is a handy urdf-to-collada utility, collada_urdf; however, I am looking to go the other way around. Is there an existing utility to do this?

Best,

mjp

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Are you trying to just convert a single object, or multiple objects with joints, etc?

DimitriProsser ( 2012-05-17 05:21:32 -0600 )edit

It's a biped humanoid robot (HRP4C)

mjp ( 2012-05-17 06:00:16 -0600 )edit

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answered 2012-05-20 21:05:23 -0600

Kei Okada

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As far as I know, currently there are no collada->urdf convert software, however robot_model (ROS robot description library) support collada format, thus most of tools can use collada file as well as urdf file. See http://www.ros.org/wiki/collada_urdf/Tutorials/Exporting%20URDF%20to%20COLLADA

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Thank you Kei for this information. We have some non-ROS software that can read URDF but not collada, and we were hoping there might be a way to export URDF once the collada format was read in.

mjp ( 2012-05-21 02:43:05 -0600 )edit

Out of curiosity, what non-ROS software reads URDF? Also, are you able to post your COLLADA file?

David Lu ( 2012-05-21 06:39:10 -0600 )edit

There is a Matlab based dynamics package we developed in-house at MIT and we recently made it use URDF by default. The collada file - I don't think I can post it because I had to agree to a license to get access to the WRL file. I could point you to the license page, though, if you are interested...

mjp ( 2012-05-22 03:29:16 -0600 )edit

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answered 2012-08-15 14:00:49 -0600

phil0stine
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updated 2012-08-15 14:02:36 -0600

It looks like this was not only talked about, but actually implemented at some point. I agree it would be a very useful and probably widely used tool.

The ticket was marked as fixed, yet I haven't seen anything on it since.

Is anybody maintaining it?

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it should be, are there any problems with it?

hsu ( 2012-08-16 19:36:56 -0600 )edit

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Converting Collada to URDF

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