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Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, this is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine. image description

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, this which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine. image description

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine. fine.

image description

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Oneiric/64bit.Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example: .dae exported from Blender: http://bit.ly/hills_bl .dae by opening Blender export and resaving in meshlab: http://bit.ly/hills_ml

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example: example:

.dae exported from Blender: http://bit.ly/hills_bl gazebo result

.dae by opening Blender export and resaving in meshlab: http://bit.ly/hills_mlgazebo result

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals. Will report back when that is solved.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals. Will report back when that is solved.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab.

image description

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals. Will report back when that is solved.normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab.

image descriptionmeshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as poly facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only by opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as poly polys facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

click to hide/show revision 15
update with latest insights

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ). Only

/edit: As it turned out, this is related to gazebo not coping well with quad based polygons that get exported into COLLADA files by Blender 2.61. See my answer below for details.

By opening .stl or .dae generated from Blender and re-saving as .dae using meshlab I'm able to one can also get get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as polys facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

/edit: I remodeled the quadrotor model and the "backfacing" error is gone now. It appears that gazebo sometimes still is a bit picky with regards to COLLADA files for no immediately recognizable reason.

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: The meshes in question are available here in svn as part of the hector_quadrotor_urdf package.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ).

/edit: As it turned out, this is related to gazebo not coping well with quad based polygons that get exported into COLLADA files by Blender 2.61. See my answer below for details.

By opening .stl or .dae generated from Blender and re-saving as .dae using meshlab one can also get get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as polys facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

/edit: I remodeled the quadrotor model and the "backfacing" error is gone now. It appears that gazebo sometimes still is a bit picky with regards to COLLADA files for no immediately recognizable reason.

/edit: The correct meshes are available here in svn as part of the hector_quadrotor_urdf package.

click to hide/show revision 17
fix images not showing up for some people by reuploading directly to ROS Answers

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image descriptionimage description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image descriptionimage description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ).

/edit: As it turned out, this is related to gazebo not coping well with quad based polygons that get exported into COLLADA files by Blender 2.61. See my answer below for details.

By opening .stl or .dae generated from Blender and re-saving as .dae using meshlab one can also get get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as polys facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

/edit: I remodeled the quadrotor model and the "backfacing" error is gone now. It appears that gazebo sometimes still is a bit picky with regards to COLLADA files for no immediately recognizable reason.

/edit: The correct meshes are available here in svn as part of the hector_quadrotor_urdf package.

click to hide/show revision 18
Remove old quadrotor blender model reference

Modeling URDF files using Blender and exporting to COLLADA format

I'm currently trying to get a nicer looking robot model by adding color to the geometry of a robot body in blender (2.61) and exporting to .dae (COLLADA) instead of plain .stl mesh. My first try was to do this not by adding textures, but setting the material of different parts of the model to be colored differently. I'm talking about the model for a single link only, and everything works fine if exporting to stl (but there's no color then, obviously).

Now, if I add the colors and export to collada using blender I get the following:

  • Reimport to Blender: Looks fine, exactly as exported
  • Open with Meshlab: Parts of the geometry are scaled by a factor of ~30. Some vertex coordinates are very wrong.
  • Open with g3viewer: The rotations between different parts of the model are off
  • Use in URDF/gazebo: Model is not recognizable at all, there are a few polygon here and there
  • Use in URDF/rviz: Geometry is fine, material seems be interpreted not quite correctly (too bright), but the color settings seem to work (a red part is a little bit red)

ROS version used is electric from .debs on Natty/64bit.

Any tips on how to improve the results are greatly appreciated.

/edit: Image of gazebo and rviz side by side (for gazebo on the left, the bounding box is on, which is based on the .stl mesh). Obviously, in gazebo only a small fraction of faces is visualized, while geometry in rviz is fine.

image description

/edit2: The above was done by selecting all different needed parts of the model in Blender and then exporting to .dae. If I instead first join all different parts inside Blender by selecting them and pressing CTRL+J and then export, the model looks much better. It works in Meshlab and g3viewer, only gazebo still gives severe problems as can be seen here (even if it looks better than before):

image description

This actually looks kind of similar to the Pelican model posted in this question.

/edit: Update with latest insights: So far it looks like Blender 2.61 Collada export is somewhat broken, at least for me on my 64 bit Natty system (I stated oneiric above before, was wrong due to working on too many different machines :) ).

/edit: As it turned out, this is related to gazebo not coping well with quad based polygons that get exported into COLLADA files by Blender 2.61. See my answer below for details.

By opening .stl or .dae generated from Blender and re-saving as .dae using meshlab one can also get get .dae files that look non-broken in gazebo. Unfortunately, the vertex materials defined in Blender seem to get lost in the process. Another example:

.dae exported from Blender: gazebo result

.dae by opening Blender export and resaving in meshlab: gazebo result

I also uploaded the quadrotor blender source file here.

DimitriProsser confirmed that the Blender export does not work for versions > 2.49 here

/edit: Comparison: Blender 2.61 export, gazebo on the left, rviz on the right Exported with 2.61, gazebo left, rviz right

Blender 2.49b export, gazebo on the left, rviz on the right image description

Unfortunately, lighting affects exactly the opposite side of the model (away from the light source), which looks like a problem with normals.

This is how it looks in rviz, gazebo and meshlab (note that in meshlab, normals appear to be correct and lighting there works). As can be seen, in both rviz and meshlab the back-facing polygons are drawn, while the front-facing ones are translucent for some reason:

image description

If I flip the normals on the model and export, the normals are facing into the wrong direction in meshlab, but in rviz and gazebo the front facing polygons are now drawn. Unfortunately, the lighting is wrong, as polys facing away from the light are now lit (In the gazebo screenshot, the light is below the quadrotor and the top is clearly lit up):

image description

I'm at a loss as to what else beside flipping normals I can do, any help is greatly appreciated.

/edit: I remodeled the quadrotor model and the "backfacing" error is gone now. It appears that gazebo sometimes still is a bit picky with regards to COLLADA files for no immediately recognizable reason.

/edit: The correct meshes and blender model are available here in svn as part of the hector_quadrotor_urdf package.