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Collada vs. OpenRAVE XML for Robot Models

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Collada vs. OpenRAVE XML for Robot Models

Michael Koval
Hi Rosen,

We're in the process of creating/updating some large OpenRAVE models and are faced with choosing between the OpenRAVE XML format and Collada. We have always used the OpenRAVE XML formats in the past, but have noticed a trend towards Collada on this mailing list and in the documentation.

Which format do you recommend for new models? Are there any features that are supported in the OpenRAVE XML format and are unsupported in Collada (or vice versa)? Does either format support texture maps in the viewer?

Looking forward to hearing your thoughts.

-Michael

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Re: Collada vs. OpenRAVE XML for Robot Models

Rosen Diankov
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hi michael,

i recommend using COLLADA whereever possible. it can contain all the information that OpenRAVE XML can, and it is standardized.

that being said, what i usually do is create robots by hand using OpenRAVE XML and/or programmatically with LinkInfo/JointInfo structures. Then I save the mesh to collada for future processing.

collada supports textures and shaders, although the current openrave viewer will not do that for you.

hope this helps,



2013/10/10 Michael Koval <[hidden email]>
Hi Rosen,

We're in the process of creating/updating some large OpenRAVE models and are faced with choosing between the OpenRAVE XML format and Collada. We have always used the OpenRAVE XML formats in the past, but have noticed a trend towards Collada on this mailing list and in the documentation.

Which format do you recommend for new models? Are there any features that are supported in the OpenRAVE XML format and are unsupported in Collada (or vice versa)? Does either format support texture maps in the viewer?

Looking forward to hearing your thoughts.

-Michael

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Re: Collada vs. OpenRAVE XML for Robot Models

Dungeoneer
Quoted from:
http://openrave-users-list.185357.n3.nabble.com/Collada-vs-OpenRAVE-XML-for-Robot-Models-tp4026774p4026775.html
Rosen Diankov wrote
i recommend using COLLADA whereever possible. it can contain all the
information that OpenRAVE XML can, and it is standardized.

that being said, what i usually do is create robots by hand using OpenRAVE
XML and/or programmatically with LinkInfo/JointInfo structures. Then I save
the mesh to collada for future processing.
Rose, pls let me dig a litte into that by a case study:

Given "Bob" -
a lowly articulated humanoid with a usual armature including a chain
root(A) -> spine(B) -> right_shoulder(C) -> right_elbow(D) ->  right_wrist(E) -> whatever_hand_details
in a DAE.

Give I want "Bob", already standing in front of a panel, to throw a switch by just using the (C) to (E) subchain.

Can I configure OpenRAVE to restrict its solver to that subchain without redefining it in a seperate OpenRAVE XML?
if (fMSWinPlatform) { (void) askUserTwice(); throw BlueScreen; } else { doWork(); }
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Re: Collada vs. OpenRAVE XML for Robot Models

Dungeoneer
It it difficult to work rapidly, "rapid" as in "rapid prototyping", if, after 3 days one neither gets an answer, not even an educated guess about severe installation issues

http://openrave-users-list.185357.n3.nabble.com/QApplication-threading-viewerrecorder-issue-on-x86-64-Linux-td4026784.html

nor about a simple feature request like the one asked in this thread.
if (fMSWinPlatform) { (void) askUserTwice(); throw BlueScreen; } else { doWork(); }
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