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<div class="moz-cite-prefix">Hi Severin,<br>
<br>
thanks for your interest, I have only come across MORSE briefly
before, but it seems I should definitely take a closer look.<br>
<br>
We have implemented an import for URDF, but have also come across
certain issues we haven't finally resolved, yet. The joints are
one of those, as we are currently using Blender's bone long axes
as the rotation or sliding axis and thus export an axis definition
for almost every joint. We don't see this as a problem when
creating new models, but working with existing models, that is
surely not ideal.<br>
<br>
As for the multiple DoF per joint, we may be facing different
problems as we're using armatures differently, but I won't go into
too much technical detail on Blender here and instead comment on
your github.<br>
<br>
Cheers,<br>
<br>
Kai<br>
<br>
<br>
</div>
<blockquote cite="mid:543D38BB.1090800@epfl.ch" type="cite">
<pre wrap="">Hello Kai,
As one of the MORSE dev (a robotic simulator based on Blender, [1]), your work is of high interest for us.
Our main challenge, for now, is to *import* URDF into Blender, which is non trivial due to differences regarding how armatures are rendered (in particular, Blender does not easily allow for multiple DoFs per joint). Have you look into it (importing URDF) or are you only exporting URDF? (and in this
case, how do you manage joints with more than 1 DoF?)
Our design choices and progress regarding URDF import in Blender can be tracked here: <a class="moz-txt-link-freetext" href="https://github.com/morse-simulator/morse/issues/547">https://github.com/morse-simulator/morse/issues/547</a>
Cheers,
Severin
[1] <a class="moz-txt-link-freetext" href="http://morse-simulator.github.io/">http://morse-simulator.github.io/</a>
On 14/10/14 16:12, Kai von Szadkowski wrote:
</pre>
<blockquote type="cite">
<pre wrap="">Hi everyone,
I'm working with the University of Bremen and the German Research Center for Artificial Intelligence (DFKI). We've recently decided to switch from our own data format to using URDF for the kinematic descriptions of our robots.
We already used the 3D modelling software Blender to create our models, exporting them using a bunch of python scripts as we didn't fancy creating models by hand. Building on these scripts, we have started to develop a full-blown add-on for Blender designed for simplifying robot model editing. It's
called 'Phobos' and can be found on GitHub: <a class="moz-txt-link-freetext" href="https://github.com/rock-simulation/phobos">https://github.com/rock-simulation/phobos</a>
I haven't been able to track down anything comparable in the ROS and Gazebo world and figured this might be interesting for some people here. There's an overview in the README file on github and already some documentation explaining the overall concepts and how to get started. We're certainly far
from delivering a bug-free "consumer product", but if somebody is interested and finds the time to take a glance, we're very happy for any feedback.
Cheers,
Kai
--
Kai von Szadkowski (M.Sc.)
Space Robotics
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6646
Empfang: +49 421 178 45-6600
Fax: +49 421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:kai.von-szadkowski@uni-bremen.de">kai.von-szadkowski@uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a>
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<br>
<pre class="moz-signature" cols="72">--
Kai von Szadkowski (M.Sc.)
Space Robotics
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6646
Empfang: +49 421 178 45-6600
Fax: +49 421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:kai.von-szadkowski@uni-bremen.de">kai.von-szadkowski@uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a>
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