Geometric Modelling in OpenRAVE - Revision history

Lestergarcia: /* Mechanisms Modelling */

2011-01-20T15:02:09Z

Mechanisms Modelling

← Older revision		Revision as of 15:02, 20 January 2011
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	<!-- comment -->		<!-- comment -->
	<Body name="Base" type="dynamic">		<Body name="Base" type="dynamic">
	~~<!--BASE, box shaped - - - - - - - - - - - - - - - - - - - - - - - - - - - - -~~
	~~Largest axis in Z~~
	~~Measurements: x=0.20 m, y=0.20 m, z=0.30 m~~
	~~Origin of Reference Frame: [0, 0, 0] <<base>> -->~~
	<translation>0 0 0</translation>		<translation>0 0 0</translation>
	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>
	<Geom type="box">		<Geom type="box">
	~~<!-- box~~
	~~Largest axis in Z~~
	~~Measurements: x=0.15 m, y=0.15 m, z=0.30 m~~
	~~Origin of Reference Frame: [0, 0, 0] <<base>> -->~~
	<translation>0 0 0</translation>		<translation>0 0 0</translation>
	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>
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	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>
	<Geom type="box">		<Geom type="box">
	~~<!-- box~~
	~~Largest axis in Z~~
	~~Measurements: x=0.26 m, y=0.16 m, z=0.24 m~~
	~~Origin of Reference Frame: [0, 0, 0] <<base>> -->~~
	<translation>0 0 0.22</translation>		<translation>0 0 0.22</translation>
	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>

Lestergarcia: /* Composition of simple geometries */

2011-01-20T15:00:36Z

Composition of simple geometries

← Older revision		Revision as of 15:00, 20 January 2011
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	<KinBody name="~~Mesa_01~~">		<KinBody name="table">
	<Body name="mesa" type="dynamic">		<Body name="mesa" type="dynamic">
	<translation>0 0 0</translation>		<translation>0 0 0</translation>

Lestergarcia: /* Cuboid */

2011-01-20T14:59:43Z

Cuboid

← Older revision		Revision as of 14:59, 20 January 2011
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	<KinBody name="Blue_Cuboid">		<KinBody name="Blue_Cuboid">
	~~<!-- -->~~
	<Body name="Cuboid" type="dynamic">		<Body name="Cuboid" type="dynamic">
	~~<!-- -->~~
	<translation>0 0 0</translation>		<translation>0 0 0</translation>
	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>
			<!-- comment -->
	<Geom type="box">		<Geom type="box">
	~~<!-- -->~~
	<translation>0 0 0.039</translation>		<translation>0 0 0.039</translation>
	<rotationaxis>1 0 0 0</rotationaxis>		<rotationaxis>1 0 0 0</rotationaxis>

Lestergarcia: /* Environments Modelling */

2011-01-17T09:51:46Z

Environments Modelling

← Older revision		Revision as of 09:51, 17 January 2011
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	= Environments Modelling =		= Environments Modelling =

			an example of describing an Environment..:

			<Environment>
			<camtrans>-0.7 -3 0.8</camtrans>
			<camrotaxis>1 0 0 90</camrotaxis>
			<KinBody name="Piso" file="Vislab/OR1_Objects/Piso_Vislab.kinbody.xml">
			<Translation>0 0 0</Translation>
			<rotationaxis>0 0 1 0</rotationaxis>
			</KinBody>
			<KinBody name="Mesa" file="Vislab/OR1_Objects/mesa_01.kinbody.xml">
			<Translation>-1.1 0 0</Translation>
			<rotationaxis>0 0 1 0</rotationaxis>
			</KinBody>
			<KinBody name="green_cylinder" file="Vislab/OR1_Objects/green_cylinder.kinbody.xml">
			<Translation>-0.95 0.3 0.75</Translation>
			<rotationaxis>0 0 1 40</rotationaxis>
			</KinBody>
			<KinBody name="blue_cuboid" file="Vislab/OR1_Objects/blue_cuboid.kinbody.xml">
			<Translation>-1.25 0.3 0.75</Translation>
			<rotationaxis>0 0 1 20</rotationaxis>
			</KinBody>
			<KinBody name="Blue_Mog" file="Vislab/OR1_Objects/blue_mug.kinbody.xml">
			<Translation>-1.25 -0.3 0.75</Translation>
			<rotationaxis>0 0 1 0</rotationaxis>
			</KinBody>
			<KinBody name="red_ball" file="Vislab/OR1_Objects/red_ball.kinbody.xml">
			<Translation>-0.95 -0.3 0.75</Translation>
			<rotationaxis>0 0 1 0</rotationaxis>
			</KinBody>
			<KinBody name="Baltazar" file="Vislab/OR2_Mechanisms/Baltazar.kinbody.xml">
			<Translation>-0.5 0 0.5</Translation>
			<rotationaxis>0 0 1 -90</rotationaxis>
			</KinBody>
			</Environment>

Lestergarcia: /* Robots Modelling */

2011-01-14T18:52:22Z

Robots Modelling

← Older revision		Revision as of 18:52, 14 January 2011
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	= Robots Modelling =		= Robots Modelling =

			An example of a Robot build by an already existing mechanism


			<Robot name="Baltazar_Robot">
			<!--
			This is the Baltazar Robot
			openrave Vislab/OR3_Robots/Baltazar.robot.xml
			-->

			<KinBody file="Vislab/OR3_Robots/Baltazar.kinbody.xml"/>

			<!-- Specifying the manipulator structure-->
			<Manipulator name="Baltazar_Arm">
			<base>Base</base> <!-- base link-->
			<effector>Palm</effector> <!-- last link where end effector is attached-->
			<Translation>0 0 0</Translation>
			<armjoints>q1 q2 q3 q4 q6</armjoints> <!-- the joints composing of the arm, n joint names-->
			<!-- the id of the inverse kinematics solver, it is not necessary to-->
			<!-- GRIPPER -->
			<joints>q11 q12 q13 q21 q22 q23 q51 q52 q53</joints> <!-- the gripper k joints used for contact-->
			<closingdirection>1 1 1 1 1 1 1 1 1</closingdirection> <!-- k floats -->
			<palmdirection>0 0 -1</palmdirection> <!-- 3 floats -->
			<!-- grasp goal with respect to the effector-->
			</Manipulator>
			</Robot>

	= Environments Modelling =		= Environments Modelling =

Lestergarcia: /* Mechanisms Modelling */

2011-01-14T18:43:35Z

Mechanisms Modelling

Show changes

Lestergarcia: /* Objects with complex geometries */

2011-01-14T18:34:56Z

Objects with complex geometries

← Older revision		Revision as of 18:34, 14 January 2011
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	== Objects with complex geometries ==		== Objects with complex geometries ==

			An example is this..:

			<KinBody name="mug">
			<!-- comment -->
			<RotationAxis>1 0 0 90</RotationAxis>
			<!-- comment -->
			<Body type="dynamic">
			<!-- comment -->
			<Geom type="trimesh">
			<Data>models/objects/blue_mug_y_up.iv</Data>
			<Render>models/objects/blue_mug_y_up.iv</Render>
			</Geom>
			<!-- comment -->
			</Body>
			<!-- comment -->
			</KinBody>

	= Mechanisms Modelling =		= Mechanisms Modelling =

Lestergarcia: /* Composition of simple geometries */

2011-01-14T18:29:56Z

Composition of simple geometries

← Older revision		Revision as of 18:29, 14 January 2011
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	== Composition of simple geometries ==		== Composition of simple geometries ==

			An example is the following..:


			<KinBody name="Mesa_01">
			<Body name="mesa" type="dynamic">
			<translation>0 0 0</translation>
			<rotationaxis>0 0 1 0</rotationaxis>
			<!-- comment -->
			<Geom type="cylinder">
			<translation>0.25 0.55 0.35</translation>
			<rotationaxis>1 0 0 90</rotationaxis>
			<radius>0.025</radius>
			<height>0.70</height>
			<diffuseColor>0.9 0.9 0.9</diffuseColor>
			</Geom>
			<!-- comment -->
			<Geom type="cylinder">
			<translation>-0.25 0.55 0.35</translation>
			<rotationaxis>1 0 0 90</rotationaxis>
			<radius>0.025</radius>
			<height>0.70</height>
			<diffuseColor>0.9 0.9 0.9</diffuseColor>
			</Geom>
			<!-- comment -->
			<Geom type="cylinder">
			<translation>-0.25 -0.55 0.35</translation>
			<rotationaxis>1 0 0 90</rotationaxis>
			<radius>0.025</radius>
			<height>0.70</height>
			<diffuseColor>0.9 0.9 0.9</diffuseColor>
			</Geom>
			<!-- comment -->
			<Geom type="cylinder">
			<translation>0.25 -0.55 0.35</translation>
			<rotationaxis>1 0 0 90</rotationaxis>
			<radius>0.025</radius>
			<height>0.70</height>
			<diffuseColor>0.9 0.9 0.9</diffuseColor>
			</Geom>
			<!-- comment -->
			<Geom type="box">
			<translation>0 0 0.725</translation>
			<extents>0.3 0.6 0.025</extents>
			<diffuseColor>0 0 0</diffuseColor>
			</Geom>
			<!-- comment -->
			</Body>
			</KinBody>

	== Objects with complex geometries ==		== Objects with complex geometries ==

Lestergarcia at 10:07, 12 January 2011

2011-01-12T10:07:55Z

← Older revision		Revision as of 10:07, 12 January 2011
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	with this we have learned how to describe elemental shaped objects in OpenRAVE. Now, let's move to see more modelling stuff.		with this we have learned how to describe elemental shaped objects in OpenRAVE. Now, let's move to see more modelling stuff.

			== Composition of simple geometries ==


			== Objects with complex geometries ==


			= Mechanisms Modelling =

			When modelling, we distinguish three kind of mechanisms:
			1. Hinge Mechanisms (Revoluta)
			2. Displacement Mechanisms
			3. Universal Mechanisms

			= Robots Modelling =


			= Environments Modelling =

Lestergarcia at 20:09, 11 January 2011

2011-01-11T20:09:53Z

← Older revision		Revision as of 20:09, 11 January 2011
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	<rotationmat>0.5 0.5 0.7 0.5 0.5 -0.7 -0.7 0.7 0</rotationmat>		<rotationmat>0.5 0.5 0.7 0.5 0.5 -0.7 -0.7 0.7 0</rotationmat>

			In order to display this object and if you have installed the VisLab Edition, just type in the terminal the following:

			openrave Vislab/OR1_Objects/green_cylinder.kinbody.xml


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	The cuboid, or rectangular prism, is defined by three parameters, x, y, z. Although this is mathematically well in OpenRAVE, the construction of this solid should be declared as follows: [x/2 y/2 z/2].		The cuboid, or rectangular prism, is defined by three parameters, x, y, z. Although this is mathematically well in OpenRAVE, the construction of this solid should be declared as follows: [x/2 y/2 z/2].

	Below there is an example of how to declare the construction of a cuboid in OpenRAVE and after that, the explanation of each element of the block is given.		Below there is an example of how to declare the construction of a cuboid in OpenRAVE and after that, the explanation of each element of the block is given.

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	As well as the sphere and cylinder, are also attributable '''color''', '''transparency''', '''rotation''' and '''translation'''.		As well as the sphere and cylinder, are also attributable '''color''', '''transparency''', '''rotation''' and '''translation'''.
			In order to display this object and if you have installed the VisLab Edition, just type in the terminal the following:

			openrave Vislab/OR1_Objects/blue_cuboid.kinbody.xml

	~~openrave data/blue_cuboid~~.~~kinbody~~.~~xml~~		with this we have learned how to describe elemental shaped objects in OpenRAVE. Now, let's move to see more modelling stuff.