Re: [OpenRAVE-users] How to put a robotic system into OpenRave

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sorry for the late response.

In the latest openrave master branch, there is now a programmatic way
of creating kinematics hierarchies, so if you can open CAD files in
C++ or Python and convert them to triangle meshes or other primitives,
then you can use it. I'm attaching a small python script to show how
to do it

rosen,

2012/9/27 Daniel Leidner <dan...@dl...>:
> Hi crossrunnerzero,
>
> it would be helpfull to know the file format of your cad files.
> Anyway if you can convert the single files into inventor (.iv or .wrl)
> you can easily create a robot as described here:
> http://openrave.programmingvision.com/wiki/index.php/Format:XML#Robot
>
> short:
> The geometry of the robot is defined inside the <body> tags
> Your cad files go into the <render> and/or <data> tags inside the <geom>
> description!
> Use <Translation> and <rotationaxis> to define the length and rotation
> of the links.
> Two bodies are concatenated within a <Joint> tag.
>
> Daniel
>
>
> On 09/26/2012 10:57 PM, crossrunnerzero wrote:
>> I posted this earlier, but I didn't really seem to get any responses. I have
>> CAD files of a robotic system, and I want to put them into an OpenRave
>> simulation. I would have to convert the files into XML format, but how
>> exactly could I do that?
>
>
> --
> ___________________________________________________________________
>
> M.Sc. Daniel Leidner
>
> German Aerospace Center (DLR)
> Institute of Robotics and Mechatronics
> Muenchner Str. 20, D-82230 Wessling
>
> phone:  ++49-8153/28-3849
> mail:   dan...@dl...
> www:    www.robotic.dlr.de/daniel.leidner
> ___________________________________________________________________
>
>
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