[Rock-dev] [Ric-mars] Fwd: Re: Robot visualization in Vizkit3D
Malte Langosz
malte.langosz at dfki.de
Wed May 8 14:33:00 CEST 2013
Am 08.05.2013 um 14:12 schrieb Jakob Schwendner:
> On 05/08/2013 10:24 AM, Malte Wirkus wrote:
>> Thank you all for your responses.
>>
>> Back to my initial question: If you are interested in what I provided.
>> What I read from the responses, the majority says 'no', because there
>> are better file formats available or other libraries that might be
>> used for rendering.
>>
>> Jakob's point is interesting:
>>
>>> I did a hack back then for mars models, which is in
>> simulation/mars_viz.
>>
>> So, something akin is already done. Then of cause it's not necessary
>> to use my software for ROCK. One could rather think about integrating
>> URDF support into the existing software.
>> Unfortunately I can't find it. That is maybe because I don't really
>> know where to look for it (I looked at
>> http://www.rock-robotics.org/master/pkg/index.html and used the search
>> functionality of the ROCK website).
> Its on the spacegit server (dfki internal)
> http://spacegit.dfki.uni-bremen.de/mars/mars_viz
> That is why you didn't find it in the external package list. I don't see
> a reason though why it shouldn't be on gitorious. Only that it really is
> a HACK. Its basically running a full rigid body simulation in order to
> perform the forward kinematics calculation.
With the latest version of MARS it should be possible to use the mars_viz plugin without the need of running a full simulation behind the scene. But still there is a lot of potential for improvements. Maybe we will work on that in LIMES.
>
>> As a ROCK newbie, I think it should be easier to find and use, even if
>> it's not perfectly aligned with the theories on how such a software
>> would look like in the optimal case. The reason for this is that I
>> think a robot visualization is, a quite essential _tool_ for people
>> working with robots.. as with most tools, it's better to have one than
>> not having one.
> Other than that, I agree with Sylvain and Alex, and what I pointed out
> as option (a). Would be great to have it. Would be even greater to go
> for (b), but if a lot of the work is already done (a) is absolutely more
> than welcome, and would be a good contribution to rock.
>
> cheers,
>
> Jakob
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--
Malte Langosz
Simulation
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 178 45-4126
Fax: +49 (0)421 218-64150
E-Mail: malte.langosz at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
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