Collada 1.4 to 1.5 -- collecting data from google 3D warehouse

[asheshjain399]

Hello

I have downloaded some indoor (house) environments from google 3D warehouse and would like to import them in openrave. However, those environments are in collada v1.4 while openrave accepts v1.5

One naive way of importing them is by changing the file header from 1.4 to 1.5, but then openrave considers the environment as a single rigid link and not individual objects. Can anyone suggest a better method of converting v1.4 to v1.5 and/or importing them in openrave such that individual objects in the environment are retained.  

--
Ashesh Jain
www.cs.cornell.edu/~ashesh

[Rosen Diankov]

even if openrave opens them in one rigid like, the link geometries (via link.GetGeometries()) should contain all the individual nodes. i think you can go through that list and create new KinBody objects for every geometry via KinBody.InitFromGeometries.

rosen,

2013/9/17 asheshjain399 <[hidden email]>

Hello

I have downloaded some indoor (house) environments from google 3D warehouse
and would like to import them in openrave. However, those environments are
in collada v1.4 while openrave accepts v1.5

One naive way of importing them is by changing the file header from 1.4 to
1.5, but then openrave considers the environment as a single rigid link and
not individual objects. Can anyone suggest a better method of converting
v1.4 to v1.5 and/or importing them in openrave such that individual objects
in the environment are retained.

--
Ashesh Jain
www.cs.cornell.edu/~ashesh



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[asheshjain399]

Thanks Rosen. I tried what you suggested but I get the following error

kinbody.InitFromGeometries(geometry)
TypeError: object of type 'Geometry' has no len()

Do you think is this a problem with the collada file I imported? Just to remind, the collada files are obtained from google 3d ware house (here is the link to collada file).

[Rosen Diankov]

can you try

kinbody.InitFromGeometries([geometry])

2013/9/21 asheshjain399 <[hidden email]>

Thanks Rosen. I tried what you suggested but I get the following error

kinbody.InitFromGeometries(geometry)
TypeError: object of type 'Geometry' has no len()

Do you think is this a problem with the collada file I imported? Just to
remind, the collada files are obtained from google 3d ware house (here is
the  link
<http://sketchup.google.com/3dwarehouse/details?mid=d37f72aa0a5af4886f0d12ca35c585d8>
to collada file).



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[asheshjain399]

with kinbody.InitFromGeometries([geometry]) I get the following error:

TypeError: No registered converter was able to produce a C++ rvalue of type boost::shared_ptr<openravepy::PyKinBody::PyLink::PyGeometryInfo> from this Python object of type Geometry

[Rosen Diankov]

oops, can you try

kinbody.InitFromGeometries([geometry.GetInfo()])

2013/9/21 asheshjain399 <[hidden email]>

with kinbody.InitFromGeometries([geometry]) I get the following error:

TypeError: No registered converter was able to produce a C++ rvalue of type
boost::shared_ptr<openravepy::PyKinBody::PyLink::PyGeometryInfo> from this
Python object of type Geometry




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[asheshjain399]

geometry.GetInfo() shows that Geometry object has no attribute GetInfo, which I think shouldn't be happening.

        env.Load('lab.skeleton.xml')
        kinbody = env.ReadKinBodyURI('room.dae')
        env.AddKinBody(kinbody,True)
        links = kinbody.GetLinks()
        print links
        for link in links:
                for geom in link.GetGeometries():
                        print geom.GetInfo()  # This throws an error


    print geom.GetInfo()
    AttributeError: 'Geometry' object has no attribute 'GetInfo'

I am using openrave v0.8.2

Thanks!!

[Rosen Diankov]

can you try openrave master branch on git? that should have the function implemented

2013/9/22 asheshjain399 <[hidden email]>

geometry.GetInfo() shows that Geometry object has no attribute GetInfo, which
I think shouldn't be happening.

        env.Load('lab.skeleton.xml')
        kinbody = env.ReadKinBodyURI('room.dae')
        env.AddKinBody(kinbody,True)
        links = kinbody.GetLinks()
        print links
        for link in links:
                for geom in link.GetGeometries():
                        print geom.GetInfo()  # This throws an error


    print geom.GetInfo()
    AttributeError: 'Geometry' object has no attribute 'GetInfo'

I am using openrave v0.8.2

Thanks!!



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