Re: [OpenRAVE-users] OpenRAVE 0.2.18: Robot Files Organization and COLLADA

[Ryohei U. <ue...@js...>]

Hi all

> There is now a folder dedicated to all possible COLLADA robots that is
> *separate* from the openrave trunk:
>
> https://openrave.svn.sourceforge.net/svnroot/openrave/data/robots
>
> There is 22 robots already and more will be coming!
>
> For ROS users: There is now a collada_robots ROS package that will
> check out all these robots (jsk-ros-pkg r1026). You would need to add
> the following bashrc line to get them into your openrave path:
>
> export OPENRAVE_DATA=$OPENRAVE_DATA:`rospack find collada_robots`/data

in addition to that, some COLLADA robot models are available in
euscollada package.
(https://jsk-ros-pkg.svn.sourceforge.net/svnroot/jsk-ros-pkg/trunk/euscollada)

the package includes some humanoid robot models, for example H7.

in order to use those models, you need to run "rosmake euscollada".

euscollada package is a young project and may have some bugs. if you find
any problem about it, please report it.

thanks
-- ryohei



On Tue, Jan 18, 2011 at 2:49 PM, Rosen Diankov <ros...@gm...> wrote:
> Dear All,
>
> OpenRAVE 0.2.18 (r1968) is out! Several major changes organization
> changes happened  for COLLADA and robot kinematics.
>
> COLLADA can now read and write compressed collada files (zae)! They
> are about 85% smaller than the original *.dae files, making them very
> compact.
>
> Many openrave robots are offered as collada compressed zae. Many
> previous *.robot.xml robots were removed to prefer the COLLADA
> counterparts. Because of this, we don't offer *.iv or VRML files for
> these robots making models.tgz pretty small. This allows us to track
> versions of robots better (thanks to Kei Okada/Ryohei Ueda for advise
> on this).
>
> There is now a folder dedicated to all possible COLLADA robots that is
> *separate* from the openrave trunk:
>
> https://openrave.svn.sourceforge.net/svnroot/openrave/data/robots
>
> There is 22 robots already and more will be coming!
>
> For ROS users: There is now a collada_robots ROS package that will
> check out all these robots (jsk-ros-pkg r1026). You would need to add
> the following bashrc line to get them into your openrave path:
>
> export OPENRAVE_DATA=$OPENRAVE_DATA:`rospack find collada_robots`/data
>
> On the Core side, we moved all configuration files to the build
> (BINARY) folder rather than have it in source. The build process for
> configuration files changed a little to accommodate simultaneous
> builds with different options better. This allows us tohave
> double/float precision + debug/release all at the same time without
> forcing a rebuild. In order to avoid any collision troubles, the
> following files were renamed:
> {{{
> classhashes.h -> interfacehashes.h
> defines.h -> config.h
> }}}
>
> Added more joint types involving all permutations of revolution and
> prismatic joints! For example Revolute, Revolute, Revolute or
> Revolute,Prismatic. or Prismatic,Prismatic,Revolute. In order to
> support joints with multiple axes better, many of the fields were
> changed from single values to vectors of values. Most of the
> Joint::Get* methods now take an axis index.
>
> The full feature list is here:
> https://sourceforge.net/apps/trac/openrave/wiki/ChangeLog
>
> rosen,
>
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