collada_urdf: initial commit of package to convert URDF to COLLADA
This commit is contained in:
tfield
parent
7f64944a6c
commit
661cc1cea7
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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set(ROS_BUILD_TYPE Debug)
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rosbuild_init()
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp)
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include $(shell rospack find mk)/cmake.mk
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Experimental code.
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<package>
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<description brief="URDF to COLLADA converter">
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This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents.
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</description>
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<author>Tim Field</author>
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<license>BSD</license>
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<review status="Unreviewed" notes=""/>
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<url>http://ros.org/wiki/collada_urdf</url>
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<depend package="roscpp" />
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<depend package="urdf" />
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<depend package="colladadom" />
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<depend package="assimp" />
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</package>
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redstributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Tim Field */
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#include "dae.h"
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#include "dae/daeErrorHandler.h"
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#include "dom/domCOLLADA.h"
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#include "dae/domAny.h"
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#include "dom/domConstants.h"
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#include "dom/domTriangles.h"
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#include "dae/daeDocument.h"
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#include "dom/domTypes.h"
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#include "dom/domElements.h"
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#include "assimp/assimp.hpp"
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#include "assimp/aiScene.h"
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#include "assimp/aiPostProcess.h"
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#include "urdf/model.h"
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#include "urdf/pose.h"
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using namespace std;
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class ColladaWriter : public daeErrorHandler
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{
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public:
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struct SCENE
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{
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domVisual_sceneRef vscene;
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domKinematics_sceneRef kscene;
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domPhysics_sceneRef pscene;
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domInstance_with_extraRef viscene;
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domInstance_kinematics_sceneRef kiscene;
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domInstance_with_extraRef piscene;
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};
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struct LINKOUTPUT
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{
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list<int> listusedlinks;
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daeElementRef plink;
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domNodeRef pnode;
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};
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urdf::Model* robot_;
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Assimp::Importer importer_;
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boost::shared_ptr<DAE> collada_;
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domCOLLADA* dom_;
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domCOLLADA::domSceneRef scene_;
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domLibrary_jointsRef jointsLib_;
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domLibrary_visual_scenesRef visualScenesLib_;
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domLibrary_kinematics_scenesRef kinematicsScenesLib_;
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domLibrary_kinematics_modelsRef kinematicsModelsLib_;
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domLibrary_articulated_systemsRef articulatedSystemsLib_;
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domLibrary_physics_scenesRef physicsScenesLib_;
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domLibrary_materialsRef materialsLib_;
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domLibrary_effectsRef effectsLib_;
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domLibrary_geometriesRef geometriesLib_;
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public:
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ColladaWriter(urdf::Model* robot) : robot_(robot) {
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daeErrorHandler::setErrorHandler(this);
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collada_.reset(new DAE());
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collada_->setIOPlugin(NULL);
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collada_->setDatabase(NULL);
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string documentName("mycollada.dae");
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daeDocument* doc = NULL;
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daeInt error = collada_->getDatabase()->insertDocument(documentName.c_str(), &doc); // also creates a collada root
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if (error != DAE_OK || doc == NULL)
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{
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cerr << "Failed to create new document\n";
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throw;
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}
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dom_ = daeSafeCast<domCOLLADA>(doc->getDomRoot());
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dom_->setAttribute("xmlns:math","http://www.w3.org/1998/Math/MathML");
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// Create the required asset tag
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domAssetRef asset = daeSafeCast<domAsset>(dom_->createAndPlace(COLLADA_ELEMENT_ASSET));
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{
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domAsset::domCreatedRef created = daeSafeCast<domAsset::domCreated>(asset->createAndPlace(COLLADA_ELEMENT_CREATED));
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created->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
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domAsset::domModifiedRef modified = daeSafeCast<domAsset::domModified>(asset->createAndPlace(COLLADA_ELEMENT_MODIFIED));
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modified->setValue("2009-04-06T17:01:00.891550"); // @todo: replace with current date
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domAsset::domContributorRef contrib = daeSafeCast<domAsset::domContributor>(asset->createAndPlace(COLLADA_TYPE_CONTRIBUTOR));
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domAsset::domContributor::domAuthoring_toolRef authoringtool = daeSafeCast<domAsset::domContributor::domAuthoring_tool>(contrib->createAndPlace(COLLADA_ELEMENT_AUTHORING_TOOL));
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authoringtool->setValue("URDF Collada Writer");
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domAsset::domUnitRef units = daeSafeCast<domAsset::domUnit>(asset->createAndPlace(COLLADA_ELEMENT_UNIT));
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units->setMeter(1);
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units->setName("meter");
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domAsset::domUp_axisRef zup = daeSafeCast<domAsset::domUp_axis>(asset->createAndPlace(COLLADA_ELEMENT_UP_AXIS));
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zup->setValue(UP_AXIS_Z_UP);
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}
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scene_ = dom_->getScene();
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if (!scene_)
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scene_ = daeSafeCast<domCOLLADA::domScene>(dom_->createAndPlace(COLLADA_ELEMENT_SCENE));
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visualScenesLib_ = daeSafeCast<domLibrary_visual_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES));
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visualScenesLib_->setId("visual_scenes");
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geometriesLib_ = daeSafeCast<domLibrary_geometries>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_GEOMETRIES));
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geometriesLib_->setId("geometries");
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effectsLib_ = daeSafeCast<domLibrary_effects>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_EFFECTS));
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effectsLib_->setId("effects");
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materialsLib_ = daeSafeCast<domLibrary_materials>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_MATERIALS));
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materialsLib_->setId("materials");
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kinematicsModelsLib_ = daeSafeCast<domLibrary_kinematics_models>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_MODELS));
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kinematicsModelsLib_->setId("kinematics_models");
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articulatedSystemsLib_ = daeSafeCast<domLibrary_articulated_systems>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_ARTICULATED_SYSTEMS));
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articulatedSystemsLib_->setId("articulated_systems");
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kinematicsScenesLib_ = daeSafeCast<domLibrary_kinematics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_KINEMATICS_SCENES));
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kinematicsScenesLib_->setId("kinematics_scenes");
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physicsScenesLib_ = daeSafeCast<domLibrary_physics_scenes>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES));
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physicsScenesLib_->setId("physics_scenes");
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jointsLib_ = daeSafeCast<domLibrary_joints>(dom_->createAndPlace(COLLADA_ELEMENT_LIBRARY_JOINTS));
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jointsLib_->setId("joints");
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}
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virtual ~ColladaWriter() {
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collada_.reset();
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DAE::cleanup();
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}
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SCENE createScene() {
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SCENE s;
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// Create visual scene
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s.vscene = daeSafeCast<domVisual_scene>(visualScenesLib_->createAndPlace(COLLADA_ELEMENT_VISUAL_SCENE));
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s.vscene->setId("visual_scene");
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s.vscene->setName("URDF Visual Scene");
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// Create kinematics scene
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s.kscene = daeSafeCast<domKinematics_scene>(kinematicsScenesLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_SCENE));
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s.kscene->setId("kinematics_scene");
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s.kscene->setName("URDF Kinematics Scene");
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// Create physic scene
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s.pscene = daeSafeCast<domPhysics_scene>(physicsScenesLib_->createAndPlace(COLLADA_ELEMENT_PHYSICS_SCENE));
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s.pscene->setId("physics_scene");
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s.pscene->setName("URDF Physics Scene");
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// Create instance visual scene
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s.viscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE));
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s.viscene->setUrl((string("#") + string(s.vscene->getID())).c_str());
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// Create instance kinematics scene
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s.kiscene = daeSafeCast<domInstance_kinematics_scene>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_KINEMATICS_SCENE));
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s.kiscene->setUrl((string("#") + string(s.kscene->getID())).c_str());
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// Create instance physics scene
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s.piscene = daeSafeCast<domInstance_with_extra>(scene_->createAndPlace(COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE));
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s.piscene->setUrl((string("#") + string(s.pscene->getID())).c_str());
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return s;
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}
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virtual void handleError(daeString msg) {
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cerr << "COLLADA error: " << msg << "\n";
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}
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virtual void handleWarning(daeString msg) {
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cerr << "COLLADA warning: " << msg << "\n";
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}
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bool write() {
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SCENE scene = createScene();
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domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
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// Create gravity
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domTargetable_float3Ref g = daeSafeCast<domTargetable_float3>(common->createAndPlace (COLLADA_ELEMENT_GRAVITY));
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g->getValue().set3(0.0, 0.0, 1.0);
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addJoints();
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addKinematics();
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addGeometries();
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collada_->writeAll();
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return true;
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}
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void addGeometries() {
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for (map<string, boost::shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
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boost::shared_ptr<urdf::Link> urdf_link = i->second;
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switch (urdf_link->visual->geometry->type) {
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case urdf::Geometry::MESH: {
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urdf::Mesh* mesh = (urdf::Mesh*) urdf_link->visual->geometry.get();
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string filename = mesh->filename;
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urdf::Vector3 scale = mesh->scale;
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domGeometryRef geometry = daeSafeCast<domGeometry>(geometriesLib_->createAndPlace(COLLADA_ELEMENT_GEOMETRY));
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loadMesh(filename, geometry);
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break;
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}
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case urdf::Geometry::SPHERE: {
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cerr << "Geometry type SPHERE of link " << urdf_link->name << " is unsupported" << endl;
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break;
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}
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case urdf::Geometry::BOX: {
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cerr << "Geometry type BOX of link " << urdf_link->name << " is unsupported" << endl;
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break;
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}
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case urdf::Geometry::CYLINDER: {
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cerr << "Geometry type CYLINDER of link " << urdf_link->name << " is unsupported" << endl;
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break;
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}
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default: {
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cerr << "Geometry type " << urdf_link->visual->geometry->type << " of link " << urdf_link->name << " is supported" << endl;
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break;
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}
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}
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}
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}
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void loadMesh(const string& filename, domGeometryRef mesh) {
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const aiScene* scene = importer_.ReadFile(filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
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if (!scene)
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cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl;
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else
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buildMesh(scene->mRootNode, mesh);
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}
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void buildMesh(aiNode* node, daeElementRef parent) {
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if (node == NULL)
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return;
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const aiScene* scene = importer_.GetScene();
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aiMatrix4x4 transform = node->mTransformation;
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aiNode* pnode = node->mParent;
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while (pnode) {
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// Don't convert to y-up orientation, which is what the root node in Assimp does
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if (pnode->mParent != NULL)
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transform = pnode->mTransformation * transform;
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pnode = pnode->mParent;
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}
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string parentid("mesh");
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for (unsigned int i = 0; i < node->mNumMeshes; i++) {
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aiMesh* aMesh = scene->mMeshes[i];
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domMeshRef mesh = daeSafeCast<domMesh>(parent->createAndPlace(COLLADA_ELEMENT_MESH));
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{
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// Add in the indices for each face
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for (unsigned int j = 0; j < aMesh->mNumFaces; j++) {
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aiFace* aFace = &(aMesh->mFaces[j]);
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for (unsigned int k = 0; k < aFace->mNumIndices; k++) {
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int index = aFace->mIndices[k];
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// @todo add index
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//subMesh->AddIndex(aFace->mIndices[k]);
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}
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}
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domSourceRef positions_source = daeSafeCast<domSource>(mesh->createAndPlace(COLLADA_ELEMENT_SOURCE));
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{
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positions_source->setId((parentid + string(".positions")).c_str());
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domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY));
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positions_array->setId((parentid + string(".positions-array")).c_str());
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positions_array->setCount(aMesh->mNumVertices);
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positions_array->setDigits(6); // 6 decimal places
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positions_array->getValue().setCount(3 * aMesh->mNumVertices);
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for (unsigned int j = 0; j < aMesh->mNumVertices; j++) {
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aiVector3D p;
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p.x = aMesh->mVertices[j].x;
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p.y = aMesh->mVertices[j].y;
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p.z = aMesh->mVertices[j].z;
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||||||
|
|
||||||
|
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<domSource::domTechnique_common>(pvertsource->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
|
||||||
|
domAccessorRef pacc = daeSafeCast<domAccessor>(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<domParam>(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float");
|
||||||
|
domParamRef py = daeSafeCast<domParam>(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float");
|
||||||
|
domParamRef pz = daeSafeCast<domParam>(pacc->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float");
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
|
||||||
|
domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES));
|
||||||
|
{
|
||||||
|
triangles->setCount(aMesh->mNumFaces / 3);
|
||||||
|
//triangles->setMaterial("mat0");
|
||||||
|
|
||||||
|
/*
|
||||||
|
domInput_local_offsetRef pvertoffset = daeSafeCast<domInput_local_offset>(ptris->createAndPlace(COLLADA_ELEMENT_INPUT));
|
||||||
|
pvertoffset->setSemantic("VERTEX");
|
||||||
|
pvertoffset->setOffset(0);
|
||||||
|
pvertoffset->setSource(domUrifragment(*pverts, string("#") + parentid + string("/vertices")));
|
||||||
|
domPRef pindices = daeSafeCast<domP>(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<domVertices>(pdommesh->createAndPlace(COLLADA_ELEMENT_VERTICES));
|
||||||
|
{
|
||||||
|
pverts->setId("vertices");
|
||||||
|
domInput_localRef pvertinput = daeSafeCast<domInput_local>(pverts->createAndPlace(COLLADA_ELEMENT_INPUT));
|
||||||
|
pvertinput->setSemantic("POSITION");
|
||||||
|
pvertinput->setSource(domUrifragment(*pvertsource, string("#")+parentid+string(".positions")));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
|
||||||
|
void addJoints() {
|
||||||
|
for (map<string, boost::shared_ptr<urdf::Joint> >::const_iterator i = robot_->joints_.begin(); i != robot_->joints_.end(); i++) {
|
||||||
|
boost::shared_ptr<urdf::Joint> urdf_joint = i->second;
|
||||||
|
|
||||||
|
// Create COLLADA joint
|
||||||
|
domJointRef joint = daeSafeCast<domJoint>(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<domAxis_constraintRef> axes(1);
|
||||||
|
axes[0] = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
|
||||||
|
axes[0]->setSid("axis0");
|
||||||
|
domAxisRef axis = daeSafeCast<domAxis>(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<domJoint_limits>(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS));
|
||||||
|
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower;
|
||||||
|
daeSafeCast<domMinmax>(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<domAxis_constraintRef> axes(1);
|
||||||
|
axes[0] = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_REVOLUTE));
|
||||||
|
axes[0]->setSid("axis0");
|
||||||
|
domAxisRef axis = daeSafeCast<domAxis>(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<domAxis_constraintRef> axes(1);
|
||||||
|
axes[0] = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC));
|
||||||
|
axes[0]->setSid("axis0");
|
||||||
|
domAxisRef axis = daeSafeCast<domAxis>(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<domJoint_limits>(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS));
|
||||||
|
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower;
|
||||||
|
daeSafeCast<domMinmax>(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<domAxis_constraintRef> axes(1);
|
||||||
|
axes[0] = daeSafeCast<domAxis_constraint>(joint->createAndPlace(COLLADA_ELEMENT_PRISMATIC));
|
||||||
|
axes[0]->setSid("axis0");
|
||||||
|
domAxisRef axis = daeSafeCast<domAxis>(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<domJoint_limits>(axes[0]->createAndPlace(COLLADA_TYPE_LIMITS));
|
||||||
|
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = 0.0;
|
||||||
|
daeSafeCast<domMinmax>(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<domKinematics_model>(kinematicsModelsLib_->createAndPlace(COLLADA_ELEMENT_KINEMATICS_MODEL));
|
||||||
|
model->setId("kinematics_model");
|
||||||
|
|
||||||
|
// Create kinematics model technique common
|
||||||
|
domKinematics_model_techniqueRef technique = daeSafeCast<domKinematics_model_technique>(model->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
|
||||||
|
|
||||||
|
// Create the instance_joints
|
||||||
|
for (map<string, boost::shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
|
||||||
|
boost::shared_ptr<urdf::Link> urdf_link = i->second;
|
||||||
|
|
||||||
|
domInstance_jointRef instance_joint = daeSafeCast<domInstance_joint>(technique->createAndPlace(COLLADA_ELEMENT_INSTANCE_JOINT));
|
||||||
|
instance_joint->setUrl("#joint_1");
|
||||||
|
}
|
||||||
|
|
||||||
|
addLink(technique, robot_->getRoot());
|
||||||
|
}
|
||||||
|
|
||||||
|
void addLink(daeElementRef parent, boost::shared_ptr<const urdf::Link> urdf_link) {
|
||||||
|
// Create link
|
||||||
|
domLinkRef link = daeSafeCast<domLink>(parent->createAndPlace(COLLADA_ELEMENT_LINK));
|
||||||
|
link->setName(urdf_link->name.c_str());
|
||||||
|
|
||||||
|
for (vector<boost::shared_ptr<urdf::Joint> >::const_iterator i = urdf_link->child_joints.begin(); i != urdf_link->child_joints.end(); i++) {
|
||||||
|
boost::shared_ptr<urdf::Joint> urdf_joint = *i;
|
||||||
|
|
||||||
|
// Create attachment full
|
||||||
|
domLink::domAttachment_fullRef attachment_full = daeSafeCast<domLink::domAttachment_full>(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<domTranslate>(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<domRotate>(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;
|
||||||
|
}
|
||||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,392 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||||
|
<asset>
|
||||||
|
<contributor>
|
||||||
|
<authoring_tool>CPFCatiaPlugin</authoring_tool>
|
||||||
|
</contributor>
|
||||||
|
<created>2009-02-17T14:57:28Z</created>
|
||||||
|
<modified>2009-02-17T14:57:28Z</modified>
|
||||||
|
<unit meter="0.001" name="millimeter"/>
|
||||||
|
<up_axis>Z_UP</up_axis>
|
||||||
|
</asset>
|
||||||
|
<library_visual_scenes id="libvisualscenes">
|
||||||
|
<visual_scene id="libvisualscenes.scene">
|
||||||
|
<node id="root" name="Product1">
|
||||||
|
<node id="Product.1_0" name="Product">
|
||||||
|
<instance_geometry url="#geo0">
|
||||||
|
<bind_material>
|
||||||
|
<technique_common>
|
||||||
|
<instance_material symbol="mat0" target="#material4278190335"/>
|
||||||
|
<instance_material symbol="mat1" target="#material4278190335"/>
|
||||||
|
<instance_material symbol="mat2" target="#material4278190335"/>
|
||||||
|
<instance_material symbol="mat3" target="#material4278190335"/>
|
||||||
|
<instance_material symbol="mat4" target="#material4278190335"/>
|
||||||
|
</technique_common>
|
||||||
|
</bind_material>
|
||||||
|
</instance_geometry>
|
||||||
|
</node>
|
||||||
|
<node id="Product2.1_1" name="Product2">
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
|
||||||
|
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
|
||||||
|
<rotate sid="joint_1_axis0">-1 -0 -0 0</rotate>
|
||||||
|
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#geo1">
|
||||||
|
<bind_material>
|
||||||
|
<technique_common>
|
||||||
|
<instance_material symbol="mat0" target="#material4278255360"/>
|
||||||
|
<instance_material symbol="mat1" target="#material4278255360"/>
|
||||||
|
<instance_material symbol="mat2" target="#material4278255360"/>
|
||||||
|
<instance_material symbol="mat3" target="#material4278255360"/>
|
||||||
|
<instance_material symbol="mat4" target="#material4278255360"/>
|
||||||
|
</technique_common>
|
||||||
|
</bind_material>
|
||||||
|
</instance_geometry>
|
||||||
|
</node>
|
||||||
|
<node id="Product3.1_2" name="Product3">
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 55000 0 0 0 1</matrix>
|
||||||
|
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -55000 -0 0 -0 1</matrix>
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
|
||||||
|
<rotate sid="joint_1_axis0">-1 -0 -0 0</rotate>
|
||||||
|
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 55000 0 0 0 1</matrix>
|
||||||
|
<rotate sid="joint_0_axis0">-1 -0 -0 0</rotate>
|
||||||
|
<matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -55000 -0 0 -0 1</matrix>
|
||||||
|
<matrix>1 0 0 0 0 1 0 0 0 0 1 55000 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#geo2">
|
||||||
|
<bind_material>
|
||||||
|
<technique_common>
|
||||||
|
<instance_material symbol="mat0" target="#material4294901760"/>
|
||||||
|
<instance_material symbol="mat1" target="#material4294901760"/>
|
||||||
|
<instance_material symbol="mat2" target="#material4294901760"/>
|
||||||
|
<instance_material symbol="mat3" target="#material4294901760"/>
|
||||||
|
<instance_material symbol="mat4" target="#material4294901760"/>
|
||||||
|
</technique_common>
|
||||||
|
</bind_material>
|
||||||
|
</instance_geometry>
|
||||||
|
</node>
|
||||||
|
</node>
|
||||||
|
</visual_scene>
|
||||||
|
</library_visual_scenes>
|
||||||
|
<library_geometries id="libgeom">
|
||||||
|
<geometry id="geo0" name="GEOM_0">
|
||||||
|
<mesh>
|
||||||
|
<source id="geo0.positions">
|
||||||
|
<float_array id="geo0.positions-array" count="60">-3000 -3000 0 -3000 -3000 0 -3000 -3000 0 -3000 3000 0 -3000 3000 0 -3000 3000 0 -1500 0 15000 0 -1500 15000 0 0 30000 0 0 30000 0 0 30000 0 0 30000 0 1500 15000 1500 0 15000 3000 -3000 0 3000 -3000 0 3000 -3000 0 3000 3000 0 3000 3000 0 3000 3000 0</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo0.positions-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<source id="geo0.normals">
|
||||||
|
<float_array id="geo0.normals-array" count="60">-0.995039 0 0.0994903 0 -0.995039 0.0994903 0 0 -1 -0.995039 0 0.0994903 0 0 -1 0 0.995039 0.0994903 -0.995039 0 0.0994903 0 -0.995039 0.0994903 -0.995039 0 0.0994903 0 -0.995039 0.0994903 0 0.995039 0.0994903 0.995039 0 0.0994903 0 0.995039 0.0994903 0.995039 0 0.0994903 0 -0.995039 0.0994903 0 0 -1 0.995039 0 0.0994903 0 0 -1 0 0.995039 0.0994903 0.995039 0 0.0994903</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo0.normals-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<vertices id="geo0.vertices">
|
||||||
|
<input semantic="POSITION" source="#geo0.positions"/>
|
||||||
|
</vertices>
|
||||||
|
<triangles count="2" material="mat0">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo0.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo0.normals"/>
|
||||||
|
<p>17 17 15 15 2 2 2 2 4 4 17 17</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat1">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo0.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo0.normals"/>
|
||||||
|
<p>1 1 7 7 9 9 7 7 1 1 14 14 14 14 9 9 7 7</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat2">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo0.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo0.normals"/>
|
||||||
|
<p>16 16 13 13 11 11 13 13 16 16 19 19 19 19 11 11 13 13</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat3">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo0.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo0.normals"/>
|
||||||
|
<p>18 18 12 12 10 10 12 12 18 18 5 5 5 5 10 10 12 12</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat4">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo0.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo0.normals"/>
|
||||||
|
<p>3 3 6 6 8 8 6 6 3 3 0 0 0 0 8 8 6 6</p>
|
||||||
|
</triangles>
|
||||||
|
</mesh>
|
||||||
|
<extra>
|
||||||
|
<technique profile="CATIA">
|
||||||
|
<classname>CAT3DBagRep</classname>
|
||||||
|
</technique>
|
||||||
|
</extra>
|
||||||
|
</geometry>
|
||||||
|
<geometry id="geo1" name="GEOM_1">
|
||||||
|
<mesh>
|
||||||
|
<source id="geo1.positions">
|
||||||
|
<float_array id="geo1.positions-array" count="60">-2000 -2000 0 -2000 -2000 0 -2000 -2000 0 -2000 2000 0 -2000 2000 0 -2000 2000 0 -1000 0 12500 0 -1000 12500 0 0 25000 0 0 25000 0 0 25000 0 0 25000 0 1000 12500 1000 0 12500 2000 -2000 0 2000 -2000 0 2000 -2000 0 2000 2000 0 2000 2000 0 2000 2000 0</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo1.positions-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<source id="geo1.normals">
|
||||||
|
<float_array id="geo1.normals-array" count="60">-0.996815 0 0.0797449 0 -0.996815 0.0797449 0 0 -1 -0.996815 0 0.0797449 0 0 -1 0 0.996815 0.0797449 -0.996815 0 0.0797449 0 -0.996815 0.0797449 -0.996815 0 0.0797449 0 -0.996815 0.0797449 0 0.996815 0.0797449 0.996815 0 0.0797449 0 0.996815 0.0797449 0.996815 0 0.0797449 0 -0.996815 0.0797449 0 0 -1 0.996815 0 0.0797449 0 0 -1 0 0.996815 0.0797449 0.996815 0 0.0797449</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo1.normals-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<vertices id="geo1.vertices">
|
||||||
|
<input semantic="POSITION" source="#geo1.positions"/>
|
||||||
|
</vertices>
|
||||||
|
<triangles count="2" material="mat0">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo1.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo1.normals"/>
|
||||||
|
<p>17 17 15 15 2 2 2 2 4 4 17 17</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat1">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo1.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo1.normals"/>
|
||||||
|
<p>1 1 7 7 9 9 7 7 1 1 14 14 14 14 9 9 7 7</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat2">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo1.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo1.normals"/>
|
||||||
|
<p>16 16 13 13 11 11 13 13 16 16 19 19 19 19 11 11 13 13</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat3">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo1.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo1.normals"/>
|
||||||
|
<p>18 18 12 12 10 10 12 12 18 18 5 5 5 5 10 10 12 12</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat4">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo1.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo1.normals"/>
|
||||||
|
<p>3 3 6 6 8 8 6 6 3 3 0 0 0 0 8 8 6 6</p>
|
||||||
|
</triangles>
|
||||||
|
</mesh>
|
||||||
|
<extra>
|
||||||
|
<technique profile="CATIA">
|
||||||
|
<classname>CAT3DBagRep</classname>
|
||||||
|
</technique>
|
||||||
|
</extra>
|
||||||
|
</geometry>
|
||||||
|
<geometry id="geo2" name="GEOM_2">
|
||||||
|
<mesh>
|
||||||
|
<source id="geo2.positions">
|
||||||
|
<float_array id="geo2.positions-array" count="60">-1000 -1000 0 -1000 -1000 0 -1000 -1000 0 -1000 1000 0 -1000 1000 0 -1000 1000 0 -500 0 2500 0 -500 2500 0 0 5000 0 0 5000 0 0 5000 0 0 5000 0 500 2500 500 0 2500 1000 -1000 0 1000 -1000 0 1000 -1000 0 1000 1000 0 1000 1000 0 1000 1000 0</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo2.positions-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<source id="geo2.normals">
|
||||||
|
<float_array id="geo2.normals-array" count="60">-0.980582 0 0.196112 0 -0.980582 0.196112 0 0 -1 -0.980582 0 0.196112 0 0 -1 0 0.980582 0.196112 -0.980582 0 0.196112 0 -0.980582 0.196112 -0.980582 0 0.196112 0 -0.980582 0.196112 0 0.980582 0.196112 0.980582 0 0.196112 0 0.980582 0.196112 0.980582 0 0.196112 0 -0.980582 0.196112 0 0 -1 0.980582 0 0.196112 0 0 -1 0 0.980582 0.196112 0.980582 0 0.196112</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor count="20" source="#geo2.normals-array" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<vertices id="geo2.vertices">
|
||||||
|
<input semantic="POSITION" source="#geo2.positions"/>
|
||||||
|
</vertices>
|
||||||
|
<triangles count="2" material="mat0">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo2.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo2.normals"/>
|
||||||
|
<p>17 17 15 15 2 2 2 2 4 4 17 17</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat1">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo2.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo2.normals"/>
|
||||||
|
<p>1 1 7 7 9 9 7 7 1 1 14 14 14 14 9 9 7 7</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat2">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo2.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo2.normals"/>
|
||||||
|
<p>16 16 13 13 11 11 13 13 16 16 19 19 19 19 11 11 13 13</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat3">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo2.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo2.normals"/>
|
||||||
|
<p>18 18 12 12 10 10 12 12 18 18 5 5 5 5 10 10 12 12</p>
|
||||||
|
</triangles>
|
||||||
|
<triangles count="3" material="mat4">
|
||||||
|
<input offset="0" semantic="VERTEX" source="#geo2.vertices"/>
|
||||||
|
<input offset="1" semantic="NORMAL" source="#geo2.normals"/>
|
||||||
|
<p>3 3 6 6 8 8 6 6 3 3 0 0 0 0 8 8 6 6</p>
|
||||||
|
</triangles>
|
||||||
|
</mesh>
|
||||||
|
<extra>
|
||||||
|
<technique profile="CATIA">
|
||||||
|
<classname>CAT3DBagRep</classname>
|
||||||
|
</technique>
|
||||||
|
</extra>
|
||||||
|
</geometry>
|
||||||
|
</library_geometries>
|
||||||
|
<library_effects id="libeffect">
|
||||||
|
<effect id="effect4278190335">
|
||||||
|
<profile_COMMON>
|
||||||
|
<technique sid="common">
|
||||||
|
<phong>
|
||||||
|
<ambient>
|
||||||
|
<color>1 0 0 1</color>
|
||||||
|
</ambient>
|
||||||
|
<diffuse>
|
||||||
|
<color>1 0 0 1</color>
|
||||||
|
</diffuse>
|
||||||
|
</phong>
|
||||||
|
</technique>
|
||||||
|
</profile_COMMON>
|
||||||
|
</effect>
|
||||||
|
<effect id="effect4278255360">
|
||||||
|
<profile_COMMON>
|
||||||
|
<technique sid="common">
|
||||||
|
<phong>
|
||||||
|
<ambient>
|
||||||
|
<color>0 1 0 1</color>
|
||||||
|
</ambient>
|
||||||
|
<diffuse>
|
||||||
|
<color>0 1 0 1</color>
|
||||||
|
</diffuse>
|
||||||
|
</phong>
|
||||||
|
</technique>
|
||||||
|
</profile_COMMON>
|
||||||
|
</effect>
|
||||||
|
<effect id="effect4294901760">
|
||||||
|
<profile_COMMON>
|
||||||
|
<technique sid="common">
|
||||||
|
<phong>
|
||||||
|
<ambient>
|
||||||
|
<color>0 0 1 1</color>
|
||||||
|
</ambient>
|
||||||
|
<diffuse>
|
||||||
|
<color>0 0 1 1</color>
|
||||||
|
</diffuse>
|
||||||
|
</phong>
|
||||||
|
</technique>
|
||||||
|
</profile_COMMON>
|
||||||
|
</effect>
|
||||||
|
</library_effects>
|
||||||
|
<library_materials id="libmat">
|
||||||
|
<material id="material4278190335">
|
||||||
|
<instance_effect url="#effect4278190335"/>
|
||||||
|
</material>
|
||||||
|
<material id="material4278255360">
|
||||||
|
<instance_effect url="#effect4278255360"/>
|
||||||
|
</material>
|
||||||
|
<material id="material4294901760">
|
||||||
|
<instance_effect url="#effect4294901760"/>
|
||||||
|
</material>
|
||||||
|
</library_materials>
|
||||||
|
<library_joints id="libjoints">
|
||||||
|
<joint id="joint_1" name="Revolute.2">
|
||||||
|
<revolute sid="axis0">
|
||||||
|
<axis>-1 -0 -0</axis>
|
||||||
|
<limits>
|
||||||
|
<min>-90</min>
|
||||||
|
<max>90</max>
|
||||||
|
</limits>
|
||||||
|
</revolute>
|
||||||
|
</joint>
|
||||||
|
<joint id="joint_0" name="Revolute.1">
|
||||||
|
<revolute sid="axis0">
|
||||||
|
<axis>-1 -0 -0</axis>
|
||||||
|
<limits>
|
||||||
|
<min>0</min>
|
||||||
|
<max>90</max>
|
||||||
|
</limits>
|
||||||
|
</revolute>
|
||||||
|
</joint>
|
||||||
|
</library_joints>
|
||||||
|
<library_kinematics_models id="libkinmodels">
|
||||||
|
<kinematics_model id="kinmodel.0" name="Mechanism.1">
|
||||||
|
<technique_common>
|
||||||
|
<instance_joint url="#joint_1" sid="joint_1"/>
|
||||||
|
<instance_joint url="#joint_0" sid="joint_0"/>
|
||||||
|
<link sid="Product.1" name="Product.1">
|
||||||
|
<attachment_full joint="kinmodel.0/joint_1">
|
||||||
|
<translate>0 0 30000</translate>
|
||||||
|
<link sid="Product2.1" name="Product2.1">
|
||||||
|
<attachment_full joint="kinmodel.0/joint_0">
|
||||||
|
<translate>0 0 25000</translate>
|
||||||
|
<link sid="Product3.1" name="Product3.1"/>
|
||||||
|
</attachment_full>
|
||||||
|
</link>
|
||||||
|
</attachment_full>
|
||||||
|
</link>
|
||||||
|
</technique_common>
|
||||||
|
</kinematics_model>
|
||||||
|
</library_kinematics_models>
|
||||||
|
<library_kinematics_scenes id="libkinscenes">
|
||||||
|
<kinematics_scene id="libkinscenes.kinScene">
|
||||||
|
<instance_kinematics_model url="#kinmodel.0" sid="inst_kinmodel.0">
|
||||||
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0">
|
||||||
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0</SIDREF>
|
||||||
|
</newparam>
|
||||||
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0">
|
||||||
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_1/axis0</SIDREF>
|
||||||
|
</newparam>
|
||||||
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value">
|
||||||
|
<float>0</float>
|
||||||
|
</newparam>
|
||||||
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0">
|
||||||
|
<SIDREF>libkinscenes.kinScene/inst_kinmodel.0/joint_0/axis0</SIDREF>
|
||||||
|
</newparam>
|
||||||
|
<newparam sid="libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value">
|
||||||
|
<float>0</float>
|
||||||
|
</newparam>
|
||||||
|
</instance_kinematics_model>
|
||||||
|
</kinematics_scene>
|
||||||
|
</library_kinematics_scenes>
|
||||||
|
<scene>
|
||||||
|
<instance_visual_scene url="#libvisualscenes.scene"/>
|
||||||
|
<instance_kinematics_scene url="#libkinscenes.kinScene">
|
||||||
|
<bind_kinematics_model node="Product.1_0">
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0</param>
|
||||||
|
</bind_kinematics_model>
|
||||||
|
<bind_joint_axis target="Product2.1_1/joint_1_axis0">
|
||||||
|
<axis>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0</param>
|
||||||
|
</axis>
|
||||||
|
<value>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value</param>
|
||||||
|
</value>
|
||||||
|
</bind_joint_axis>
|
||||||
|
<bind_joint_axis target="Product3.1_2/joint_1_axis0">
|
||||||
|
<axis>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0</param>
|
||||||
|
</axis>
|
||||||
|
<value>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_1_axis0_value</param>
|
||||||
|
</value>
|
||||||
|
</bind_joint_axis>
|
||||||
|
<bind_joint_axis target="Product3.1_2/joint_0_axis0">
|
||||||
|
<axis>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0</param>
|
||||||
|
</axis>
|
||||||
|
<value>
|
||||||
|
<param>libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.0_joint_0_axis0_value</param>
|
||||||
|
</value>
|
||||||
|
</bind_joint_axis>
|
||||||
|
</instance_kinematics_scene>
|
||||||
|
</scene>
|
||||||
|
</COLLADA>
|
||||||
Loading…
Reference in New Issue