diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt new file mode 100644 index 0000000..037d9e2 --- /dev/null +++ b/collada_urdf/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +set(ROS_BUILD_TYPE Debug) +rosbuild_init() +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp) diff --git a/collada_urdf/Makefile b/collada_urdf/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/collada_urdf/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/collada_urdf/ROS_BUILD_BLACKLIST b/collada_urdf/ROS_BUILD_BLACKLIST new file mode 100644 index 0000000..22710e9 --- /dev/null +++ b/collada_urdf/ROS_BUILD_BLACKLIST @@ -0,0 +1 @@ +Experimental code. diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml new file mode 100644 index 0000000..cf11812 --- /dev/null +++ b/collada_urdf/manifest.xml @@ -0,0 +1,15 @@ + + + This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents. + + Tim Field + BSD + + http://ros.org/wiki/collada_urdf + + + + + + + diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp new file mode 100644 index 0000000..647baf0 --- /dev/null +++ b/collada_urdf/src/urdf_to_collada.cpp @@ -0,0 +1,570 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redstributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +/* Author: Tim Field */ + +#include "dae.h" +#include "dae/daeErrorHandler.h" +#include "dom/domCOLLADA.h" + +#include "dae/domAny.h" +#include "dom/domConstants.h" +#include "dom/domTriangles.h" +#include "dae/daeDocument.h" +#include "dom/domTypes.h" +#include "dom/domElements.h" + +#include "assimp/assimp.hpp" +#include "assimp/aiScene.h" +#include "assimp/aiPostProcess.h" + +#include "urdf/model.h" +#include "urdf/pose.h" + +using namespace std; + +class ColladaWriter : public daeErrorHandler +{ +public: + struct SCENE + { + domVisual_sceneRef vscene; + domKinematics_sceneRef kscene; + domPhysics_sceneRef pscene; + domInstance_with_extraRef viscene; + domInstance_kinematics_sceneRef kiscene; + domInstance_with_extraRef piscene; + }; + + struct LINKOUTPUT + { + list listusedlinks; + daeElementRef plink; + domNodeRef pnode; + }; + + urdf::Model* robot_; + + Assimp::Importer importer_; + + boost::shared_ptr collada_; + domCOLLADA* dom_; + domCOLLADA::domSceneRef scene_; + domLibrary_jointsRef jointsLib_; + + domLibrary_visual_scenesRef visualScenesLib_; + domLibrary_kinematics_scenesRef kinematicsScenesLib_; + domLibrary_kinematics_modelsRef kinematicsModelsLib_; + domLibrary_articulated_systemsRef articulatedSystemsLib_; + domLibrary_physics_scenesRef physicsScenesLib_; + domLibrary_materialsRef materialsLib_; + domLibrary_effectsRef effectsLib_; + domLibrary_geometriesRef geometriesLib_; + +public: + ColladaWriter(urdf::Model* robot) : robot_(robot) { + daeErrorHandler::setErrorHandler(this); + + collada_.reset(new DAE()); + collada_->setIOPlugin(NULL); + collada_->setDatabase(NULL); + + string documentName("mycollada.dae"); + daeDocument* doc = NULL; + daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root + if (error != DAE_OK || doc == NULL) + { + cerr << "Failed to create new document\n"; + throw; + } + + dom_ = daeSafeCast(doc->getDomRoot()); + dom_->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML"); + + // Create the required asset tag + domAssetRef asset = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_ASSET)); + { + domAsset::domCreatedRef created = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_CREATED)); + created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + domAsset::domModifiedRef modified = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED)); + modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date + + domAsset::domContributorRef contrib = daeSafeCast(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR)); + domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL)); + authoringtool->setValue("URDF Collada Writer"); + + domAsset::domUnitRef units = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UNIT)); + units->setMeter(1); + units->setName("meter"); + + domAsset::domUp_axisRef zup = daeSafeCast(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS)); + zup->setValue(UP_AXIS_Z_UP); + } + + scene_ = dom_->getScene(); + if (!scene_) + scene_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_SCENE)); + + visualScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES)); + visualScenesLib_->setId("visual_scenes"); + geometriesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES)); + geometriesLib_->setId("geometries"); + effectsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS)); + effectsLib_->setId("effects"); + materialsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS)); + materialsLib_->setId("materials"); + kinematicsModelsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS)); + kinematicsModelsLib_->setId("kinematics_models"); + articulatedSystemsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS)); + articulatedSystemsLib_->setId("articulated_systems"); + kinematicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES)); + kinematicsScenesLib_->setId("kinematics_scenes"); + physicsScenesLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES)); + physicsScenesLib_->setId("physics_scenes"); + jointsLib_ = daeSafeCast(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS)); + jointsLib_->setId("joints"); + } + + virtual ~ColladaWriter() { + collada_.reset(); + DAE::cleanup(); + } + + SCENE createScene() { + SCENE s; + + // Create visual scene + s.vscene = daeSafeCast(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE)); + s.vscene->setId("visual_scene"); + s.vscene->setName("URDF Visual Scene"); + + // Create kinematics scene + s.kscene = daeSafeCast(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE)); + s.kscene->setId("kinematics_scene"); + s.kscene->setName("URDF Kinematics Scene"); + + // Create physic scene + s.pscene = daeSafeCast(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE)); + s.pscene->setId("physics_scene"); + s.pscene->setName("URDF Physics Scene"); + + // Create instance visual scene + s.viscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE)); + s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str()); + + // Create instance kinematics scene + s.kiscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE)); + s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str()); + + // Create instance physics scene + s.piscene = daeSafeCast(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE)); + s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str()); + + return s; + } + + virtual void handleError(daeString msg) { + cerr << "COLLADA error: " << msg << "\n"; + } + + virtual void handleWarning(daeString msg) { + cerr << "COLLADA warning: " << msg << "\n"; + } + + bool write() { + SCENE scene = createScene(); + + domPhysics_scene::domTechnique_commonRef common = daeSafeCast(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // Create gravity + domTargetable_float3Ref g = daeSafeCast(common->createAndPlace (COLLADA_ELEMENT_GRAVITY)); + g->getValue().set3(0.0, 0.0, 1.0); + + addJoints(); + addKinematics(); + addGeometries(); + + collada_->writeAll(); + + return true; + } + + void addGeometries() { + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + switch (urdf_link->visual->geometry->type) { + case urdf::Geometry::MESH: { + urdf::Mesh* mesh = (urdf::Mesh*) urdf_link->visual->geometry.get(); + + string filename = mesh->filename; + urdf::Vector3 scale = mesh->scale; + + domGeometryRef geometry = daeSafeCast(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY)); + loadMesh(filename, geometry); + + break; + } + case urdf::Geometry::SPHERE: { + cerr << "Geometry type SPHERE of link " << urdf_link->name << " is unsupported" << endl; + break; + } + case urdf::Geometry::BOX: { + cerr << "Geometry type BOX of link " << urdf_link->name << " is unsupported" << endl; + break; + } + case urdf::Geometry::CYLINDER: { + cerr << "Geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << endl; + break; + } + default: { + cerr << "Geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << endl; + break; + } + } + } + } + + void loadMesh(const string& filename, domGeometryRef mesh) { + const aiScene* scene = importer_.ReadFile(filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); + if (!scene) + cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; + else + buildMesh(scene->mRootNode, mesh); + } + + void buildMesh(aiNode* node, daeElementRef parent) { + if (node == NULL) + return; + + const aiScene* scene = importer_.GetScene(); + + aiMatrix4x4 transform = node->mTransformation; + + aiNode* pnode = node->mParent; + while (pnode) { + // Don't convert to y-up orientation, which is what the root node in Assimp does + if (pnode->mParent != NULL) + transform = pnode->mTransformation * transform; + pnode = pnode->mParent; + } + + string parentid("mesh"); + + for (unsigned int i = 0; i < node->mNumMeshes; i++) { + aiMesh* aMesh = scene->mMeshes[i]; + + domMeshRef mesh = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_MESH)); + { + // Add in the indices for each face + for (unsigned int j = 0; j < aMesh->mNumFaces; j++) { + aiFace* aFace = &(aMesh->mFaces[j]); + for (unsigned int k = 0; k < aFace->mNumIndices; k++) { + int index = aFace->mIndices[k]; + // @todo add index + //subMesh->AddIndex(aFace->mIndices[k]); + } + } + + domSourceRef positions_source = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE)); + { + positions_source->setId((parentid + string(".positions")).c_str()); + + domFloat_arrayRef positions_array = daeSafeCast(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); + positions_array->setId((parentid + string(".positions-array")).c_str()); + positions_array->setCount(aMesh->mNumVertices); + positions_array->setDigits(6); // 6 decimal places + positions_array->getValue().setCount(3 * aMesh->mNumVertices); + + for (unsigned int j = 0; j < aMesh->mNumVertices; j++) { + aiVector3D p; + p.x = aMesh->mVertices[j].x; + p.y = aMesh->mVertices[j].y; + p.z = aMesh->mVertices[j].z; + + p *= transform; + + positions_array->getValue()[j] = p.x; + positions_array->getValue()[j] = p.y; + positions_array->getValue()[j] = p.z; + + /* + if (aMesh->HasNormals()) { + p.x = aMesh->mNormals[j].x; + p.y = aMesh->mNormals[j].y; + p.z = aMesh->mNormals[j].z; + } + + // @todo add normal + //subMesh->AddNormal(p.x, p.y, p.z); + + // @todo add tex coord + //if (aMesh->mNumUVComponents[0]) + // subMesh->AddTexCoord(aMesh->mTextureCoords[0][j].x, 1.0 -aMesh->mTextureCoords[0][j].y); + //else + // subMesh->AddTexCoord(0,0); + */ + } + + /* + domSource::domTechnique_commonRef psourcetec = daeSafeCast(pvertsource->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + domAccessorRef pacc = daeSafeCast(psourcetec->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); + pacc->setCount(aMesh->mNumVertices); + pacc->setSource(xsAnyURI(*positions_array, string("#") + parentid + string(".positions-array"))); + pacc->setStride(3); + + domParamRef px = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); + domParamRef py = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); + domParamRef pz = daeSafeCast(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); + */ + } + + domTrianglesRef triangles = daeSafeCast(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); + { + triangles->setCount(aMesh->mNumFaces / 3); + //triangles->setMaterial("mat0"); + + /* + domInput_local_offsetRef pvertoffset = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_INPUT)); + pvertoffset->setSemantic("VERTEX"); + pvertoffset->setOffset(0); + pvertoffset->setSource(domUrifragment(*pverts, string("#") + parentid + string("/vertices"))); + domPRef pindices = daeSafeCast(ptris->createAndPlace(COLLADA_ELEMENT_P)); + pindices->getValue().setCount(mesh.indices.size()); + for (size_t ind = 0; ind < mesh.indices.size(); ++ind) + pindices->getValue()[ind] = mesh.indices[ind]; + */ + } + } + + for (unsigned int i = 0; i < node->mNumChildren; i++) + buildMesh(node->mChildren[i], mesh); + } + } + + /* + domGeometryRef writeGeometry(const string& parentid) { + domVerticesRef pverts = daeSafeCast(pdommesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); + { + pverts->setId("vertices"); + domInput_localRef pvertinput = daeSafeCast(pverts->createAndPlace(COLLADA_ELEMENT_INPUT)); + pvertinput->setSemantic("POSITION"); + pvertinput->setSource(domUrifragment(*pvertsource, string("#")+parentid+string(".positions"))); + } + } + */ + + void addJoints() { + for (map >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) { + boost::shared_ptr urdf_joint = i->second; + + // Create COLLADA joint + domJointRef joint = daeSafeCast(jointsLib_->createAndPlace(COLLADA_ELEMENT_JOINT)); + + joint->setId(urdf_joint->name.c_str()); + joint->setName(urdf_joint->name.c_str()); + + switch (urdf_joint->type) + { + case urdf::Joint::REVOLUTE: { + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + break; + } + case urdf::Joint::CONTINUOUS: { + // Model as a REVOLUTE joint without limits + + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + break; + } + case urdf::Joint::PRISMATIC: { + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper; + break; + } + case urdf::Joint::FIXED: { + // Model as a PRISMATIC joint with no limits + + // joint.axis + vector axes(1); + axes[0] = daeSafeCast(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC)); + axes[0]->setSid("axis0"); + domAxisRef axis = daeSafeCast(axes[0]->createAndPlace(COLLADA_ELEMENT_AXIS)); + axis->getValue().setCount(3); + axis->getValue()[0] = urdf_joint->axis.x; + axis->getValue()[1] = urdf_joint->axis.y; + axis->getValue()[2] = urdf_joint->axis.z; + + // joint.limits + domJoint_limitsRef limits = daeSafeCast(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS)); + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0; + daeSafeCast(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = 0.0; + break; + } + case urdf::Joint::UNKNOWN: { + cerr << "Joint type UNKNOWN of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + case urdf::Joint::FLOATING: { + cerr << "Joint type FLOATING of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + case urdf::Joint::PLANAR: { + cerr << "Joint type PLANAR of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + default: { + cerr << "Joint type " << urdf_joint->type << " of joint " << urdf_joint->name << " is unsupported" << endl; + break; + } + } + } + } + + void addKinematics() + { + // Create kinematics model + domKinematics_modelRef model = daeSafeCast(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL)); + model->setId("kinematics_model"); + + // Create kinematics model technique common + domKinematics_model_techniqueRef technique = daeSafeCast(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); + + // Create the instance_joints + for (map >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) { + boost::shared_ptr urdf_link = i->second; + + domInstance_jointRef instance_joint = daeSafeCast(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT)); + instance_joint->setUrl("#joint_1"); + } + + addLink(technique, robot_->getRoot()); + } + + void addLink(daeElementRef parent, boost::shared_ptr urdf_link) { + // Create link + domLinkRef link = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_LINK)); + link->setName(urdf_link->name.c_str()); + + for (vector >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) { + boost::shared_ptr urdf_joint = *i; + + // Create attachment full + domLink::domAttachment_fullRef attachment_full = daeSafeCast(link->createAndPlace(COLLADA_TYPE_ATTACHMENT_FULL)); + attachment_full->setJoint(urdf_joint->name.c_str()); + + // Create translation, rotation + addTransformation(attachment_full, urdf_joint->parent_to_joint_origin_transform); + + // Create child links + addLink(attachment_full, robot_->getLink(urdf_joint->child_link_name)); + } + } + + void addTransformation(daeElementRef parent, const urdf::Pose& pose) + { + domTranslateRef trans = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_TRANSLATE)); + trans->getValue().setCount(3); + trans->getValue()[0] = pose.position.x; + trans->getValue()[1] = pose.position.y; + trans->getValue()[2] = pose.position.z; + + domRotateRef rot = daeSafeCast(parent->createAndPlace(COLLADA_ELEMENT_ROTATE)); + rot->getValue().setCount(4); + rot->getValue()[0] = pose.rotation.x; + rot->getValue()[1] = pose.rotation.y; + rot->getValue()[2] = pose.rotation.z; + rot->getValue()[3] = pose.rotation.w; + } +}; + +int main(int argc, char** argv) +{ + if (argc != 2) { + std::cerr << "Usage: urdf_to_collada input.urdf" << std::endl; + return -1; + } + + TiXmlDocument robot_model_xml; + robot_model_xml.LoadFile(argv[1]); + TiXmlElement* robot_xml = robot_model_xml.FirstChildElement("robot"); + if (!robot_xml) { + std::cerr << "ERROR: Could not load the xml into TiXmlElement" << std::endl; + return -1; + } + + urdf::Model robot; + if (!robot.initXml(robot_xml)) { + std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; + return -1; + } + + ColladaWriter* writer = new ColladaWriter(&robot); + writer->write(); + delete writer; + + return 0; +} diff --git a/collada_urdf/test/base.dae b/collada_urdf/test/base.dae new file mode 100644 index 0000000..b1e4d14 --- /dev/null +++ b/collada_urdf/test/base.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Sat Dec 26 05:44:16 2009 + Sat Dec 26 05:44:16 2009 + + + + + + + + + 0.245 0.03 0.182 0.305 0.03 0.182 0.245 -0.03 0.2201 0.245 0.00235022 0.2201 0.305 -0.03 0.2201 0.245 -0.03 0.182 0.305 -0.03 0.182 0.305 -0.03 0.2688 0.305 0.03 0.2688 0.305 0.03 0.2509 0.305 -0.03 0.2509 0.245 -0.03 0.2688 0.245 0.00235022 0.2509 0.245 -0.00235022 0.2509 0.245 0.03 0.2688 0.305 0.03 0.2201 0.296177 0.013287 0.2201 0.259464 0.0195866 0.2201 0.245 0.03 0.2201 0.2975 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1839 1256 1840 1256 1841 1256

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2024 1420 2026 1420 2020 1420 2015 1420

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1935 1420 2019 1420 2024 1420 2013 1420

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2005 1420 2007 1420 2011 1420 2019 1420 1935 1420

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2004 1420 2007 1420 2005 1420 2000 1420

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1994 1420 2004 1420 2000 1420 1913 1420

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1913 1420 1990 1420 1988 1420 1994 1420

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1990 1420 1984 1420 1982 1420 1988 1420

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1984 1420 1896 1420 1979 1420 1982 1420

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1970 1420 1874 1420 1967 1420 1883 1420 1973 1420

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1973 1420 1883 1420 1979 1420 1976 1420

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1949 1422 1939 1422 1943 1422

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1947 1422 1950 1422 1952 1422 2031 1422 1953 1422 1948 1422

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1948 1422 1941 1422 2030 1422 1938 1422 1947 1422

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1954 1422 2021 1422 1941 1422 1948 1422 1953 1422

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2021 1422 1954 1422 1955 1422 1949 1422 1943 1422

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2012 1423 1929 1423 2008 1423 1999 1423 1995 1423 2001 1423 1999 1423 1911 1423 1995 1423 1999 1423 1985 1423 1911 1423 1871 1423 1977 1423 1980 1423 1964 1423 1969 1423 1974 1423

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2022 1423 2020 1423 2026 1423 1958 1423

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1958 1423 2025 1423 2016 1423 2022 1423

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2025 1423 1946 1423 2014 1423 2016 1423

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1946 1423 2012 1423 2008 1423 2014 1423

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2012 1423 1999 1423 2001 1423 1929 1423

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1999 1423 1871 1423 1980 1423 1985 1423

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1974 1423 1977 1423 1871 1423 1964 1423

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1964 1423 1874 1423 1970 1423 1969 1423

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1892 1424 1899 1424 1983 1424

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2028 1424 1918 1424 1921 1424 1925 1424 1931 1424

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1991 1424 1914 1424 1921 1424 1918 1424

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1906 1424 1914 1424 1991 1424 1989 1424

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1989 1424 1983 1424 1899 1424 1898 1424 1906 1424

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1886 1424 1869 1424 1868 1424 1885 1424

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1880 1424 1881 1424 1878 1424 1877 1424

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1972 1424 1880 1424 1877 1424 1876 1424

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1886 1424 1975 1424 1972 1424 1876 1424 1875 1424

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1975 1424 1886 1424 1885 1424 1899 1424 1892 1424

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1981 1425 1897 1425 1903 1425 1909 1425 1907 1425 1905 1425

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1907 1425 1909 1425 1992 1425 1915 1425

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1930 1425 2006 1425 1924 1425 1922 1425 1920 1425 2029 1425

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1920 1425 1922 1425 1915 1425 1992 1425

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1994 1386 1988 1380 1986 1378 1994 1386 2003 1395 2004 1396

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2004 1396 2003 1395 2006 1398 2007 1399

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2007 1399 2006 1398 2010 1402 2011 1403

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2011 1403 2010 1402 2018 1410 2019 1411

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2019 1411 2018 1410 2023 1415 2024 1416

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2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

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1958 1350 2027 1419 1952 1344 2025 1417

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2025 1417 1952 1344 2017 1409 1946 1338

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1946 1338 2017 1409 2009 1401 2012 1404

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2012 1404 2009 1401 1997 1389 1999 1391

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1998 1390 1996 1388 1960 1352 1963 1355

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1870 1262 1959 1351 1961 1353 1964 1356

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1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

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1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

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1967 1359 1965 1357 1971 1363 1882 1274

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1882 1274 1971 1363 1978 1370 1979 1371

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1979 1371 1978 1370 1981 1373 1982 1374

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1982 1374 1981 1373 1986 1378 1988 1380

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1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

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2004 1396 2003 1395 2006 1398 2007 1399

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2007 1399 2006 1398 2010 1402 2011 1403

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2011 1403 2010 1402 2018 1410 2019 1411

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2019 1411 2018 1410 2023 1415 2024 1416

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2024 1416 2023 1415 2027 1419 1958 1350 2026 1418

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1958 1350 2027 1419 1952 1344 2025 1417

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2025 1417 1952 1344 2017 1409 1946 1338

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1946 1338 2017 1409 2009 1401 2012 1404

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2012 1404 2009 1401 1997 1389 1999 1391

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1998 1390 1996 1388 1960 1352 1963 1355

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1870 1262 1959 1351 1961 1353 1964 1356

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1869 1261 1875 1267 1968 1360 1966 1358 1962 1354

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1961 1353 1965 1357 1967 1359 1872 1264 1964 1356

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1967 1359 1965 1357 1971 1363 1882 1274

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1882 1274 1971 1363 1978 1370 1979 1371

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1979 1371 1978 1370 1981 1373 1982 1374

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1982 1374 1981 1373 1986 1378 1988 1380

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1924 1316 2002 1394 1993 1385 1987 1379 1905 1297

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2021 1413 1942 1334 2015 1407 2020 1412 2022 1414

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2015 1407 1942 1334 1937 1329 2013 1405

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2013 1405 1937 1329 1933 1325 1934 1326

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1934 1326 1933 1325 1927 1319 2005 1397

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2005 1397 1927 1319 1919 1311 2000 1392

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2000 1392 1919 1311 1992 1384 1913 1305

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1913 1305 1992 1384 1909 1301 1990 1382

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1990 1382 1909 1301 1902 1294 1984 1376

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1984 1376 1902 1294 1894 1286 1896 1288

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1896 1288 1894 1286 1887 1279 1976 1368

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1976 1368 1887 1279 1884 1276 1973 1365

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1880 1272 1969 1361 1970 1362 1973 1365 1884 1276

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1969 1361 1880 1272 1972 1364 1974 1366

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1974 1366 1972 1364 1975 1367 1977 1369

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1977 1369 1975 1367 1892 1284 1980 1372

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1980 1372 1892 1284 1983 1375 1985 1377

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1985 1377 1983 1375 1989 1381 1911 1303

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1911 1303 1989 1381 1991 1383 1995 1387

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1995 1387 1991 1383 1917 1309 2001 1393

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2001 1393 1917 1309 1926 1318 1928 1320

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1928 1320 1926 1318 1932 1324 2008 1400

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2008 1400 1932 1324 1936 1328 2014 1406

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2014 1406 1936 1328 1940 1332 2016 1408

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2016 1408 1940 1332 2021 1413 2022 1414

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2032 1426 2033 1427 2034 1428 2035 1429 2036 1430 2037 1431 2038 1432 2039 1433

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2040 1434 2041 1435 2042 1436 2043 1437 2044 1438 2045 1439 2046 1440 2047 1441

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2048 1442 2049 1443 2050 1444 2051 1445

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2052 1446 2053 1447 2054 1448 2055 1449

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2056 1450 2057 1451 2058 1452 2059 1453

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2060 1454 2061 1455 2062 1456 2063 1457

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2064 1458 2065 1459 2066 1460 2067 1461

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2068 1462 2069 1463 2070 1464 2071 1465

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2072 1466 2073 1467 2074 1468 2075 1469

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2076 1470 2077 1471 2078 1472 2079 1473

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2080 1474 2081 1475 2082 1476 2083 1477 2084 1478 2085 1479 2086 1480 2087 1481

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2088 1482 2089 1483 2090 1484 2091 1485 2092 1486 2093 1487 2094 1488 2095 1489

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2096 1490 2097 1491 2098 1492 2099 1493

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2100 1494 2101 1495 2102 1496 2103 1497

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2104 1498 2105 1499 2106 1500 2107 1501

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2164 1549 2165 1550 2166 1551 2167 1552

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2177 1603 2207 1603 2212 1603 2188 1603 2176 1603

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2216 1603 2195 1603 2194 1603 2188 1603 2212 1603

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2195 1603 2218 1603 2193 1603 2196 1603

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2196 1603 2217 1603 2213 1603 2189 1603 2197 1603

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2208 1603 2178 1603 2179 1603 2189 1603 2213 1603

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2184 1604 2211 1604 2215 1604 2191 1604 2185 1604

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2201 1604 2204 1604 2205 1604 2191 1604 2215 1604

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2204 1604 2220 1604 2219 1604 2203 1604

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2203 1604 2199 1604 2214 1604 2190 1604 2202 1604

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2210 1604 2183 1604 2182 1604 2190 1604 2214 1604

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2192 1574 2218 1600 2219 1601 2220 1602

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2217 1599 2192 1574 2220 1602 2200 1582

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2213 1595 2217 1599 2200 1582 2215 1597

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2208 1590 2213 1595 2215 1597 2211 1593

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2206 1588 2208 1590 2211 1593 2187 1569

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2181 1563 2206 1588 2187 1569 2209 1591

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2207 1589 2181 1563 2209 1591 2210 1592

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2212 1594 2207 1589 2210 1592 2214 1596

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2216 1598 2212 1594 2214 1596 2198 1580

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2221 1605 2222 1606 2223 1607 2224 1608

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2225 1609 2226 1610 2227 1611 2228 1612

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2229 1613 2230 1614 2231 1615 2232 1616

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2233 1617 2234 1618 2235 1619 2236 1620

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2237 1621 2238 1622 2239 1623 2240 1624

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2241 1625 2242 1626 2243 1627 2244 1628

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2255 1639 2256 1640 2257 1641 2258 1642 2259 1643 2260 1644 2261 1645 2262 1646 2263 1647 2264 1648

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2265 1649 2266 1650 2267 1651 2268 1652

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2277 1661 2278 1662 2279 1663 2280 1664

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2281 1665 2282 1666 2283 1667 2284 1668

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2285 1669 2286 1670 2287 1671 2288 1672

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2289 1673 2290 1674 2291 1675 2292 1676

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2293 1677 2294 1678 2295 1679 2296 1680

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2301 1685 2302 1686 2303 1687 2304 1688

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2306 1690 2310 1694 2320 1704 2318 1702

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2317 1701 2319 1703 2323 1707 2321 1705

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2322 1706 2324 1708 2327 1711 2325 1709

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2355 1741 2357 1743 2332 1718 2329 1715

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2512 1902 2488 1878 2580 1970 2579 1969

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1870 1780 1871 1781 1872 1782 1873 1783

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1892 1802 1893 1803 1894 1804 1895 1805 1896 1806 1897 1807 1898 1808 1899 1809 1900 1810 1901 1811 1902 1812 1903 1813 1904 1814 1905 1815 1906 1816 1907 1817 1908 1818 1909 1819

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1910 1820 1911 1821 1912 1822 1913 1823

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1914 1824 1915 1825 1916 1826 1917 1827

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1918 1828 1919 1829 1920 1830 1921 1831

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1922 1832 1923 1833 1924 1834 1925 1835

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1926 1836 1927 1837 1928 1838 1929 1839

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1930 1840 1931 1841 1932 1842 1933 1843

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1934 1844 1935 1845 1936 1846 1937 1847

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1938 1848 1939 1849 1940 1850 1941 1851

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1942 1852 1943 1853 1944 1854 1945 1855

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1946 1856 1947 1857 1948 1858 1949 1859

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1950 1860 1951 1861 1952 1862 1953 1863

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1954 1864 1955 1865 1956 1866 1957 1867

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1958 1868 1959 1869 1960 1870 1961 1871

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1962 1872 1963 1873 1964 1874 1965 1875

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1966 1876 1967 1877 1968 1878 1969 1879

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1970 1880 1971 1881 1972 1882 1973 1883

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1974 1884 1975 1885 1976 1886 1977 1887

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1978 1888 1979 1889 1980 1890 1981 1891

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1982 1892 1983 1893 1984 1894 1997 1907 1998 1908 1999 1909

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1985 1895 1986 1896 1987 1897 1988 1898

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1989 1899 1990 1900 1991 1901 1992 1902

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1993 1903 1994 1904 1995 1905 1996 1906

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2016 1926 2028 1938 2026 1936 2023 1933

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2169 2105 2167 2105 2166 2105 2168 2105 2165 2105 2198 2105

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2156 2105 2178 2105 2158 2105 2157 2105

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2178 2105 2156 2105 2264 2105 2181 2105 2160 2105 2161 2105 2260 2105

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2162 2105 2261 2105 2260 2105 2161 2105

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2195 2105 2166 2105 2167 2105 2262 2105 2261 2105 2162 2105 2164 2105

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2258 2113 2210 2113 2135 2113

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2213 2113 2252 2113 2258 2113 2135 2113

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2174 2015 2154 1995 2155 1996 2176 2017 2172 2013

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2121 1962 2151 1992 2253 2094 2207 2048

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2209 2050 2256 2097 2152 1993 2121 1962

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2123 1964 2147 1988 2246 2087 2215 2056

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2203 2044 2227 2068 2139 1980 2119 1960

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2183 2024 2179 2020 2129 1970 2211 2052 2224 2065

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2125 1966 2143 1984 2237 2078 2217 2058

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