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jsk-ros-pkg / jsk_model_tools

JSK model utilities
https://github.com/jsk-ros-pkg/jsk_model_tools
BSD 3-Clause "New" or "Revised" License
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Fix location of gl::vertices setting #170

Closed snozawa closed 8 years ago

snozawa commented 8 years ago

Fix location of gl::vertices setting. Move after geom is set. @YoheiKakiuchi

k-okada commented 8 years ago

Can you explain why this has not been a problem for existing robot?

◉ Kei Okada

2016/01/20 19:12、Shunichi Nozawa notifications@github.com のメッセージ:

Fix location of gl::vertices setting. Move after geom is set. @YoheiKakiuchi

You can view, comment on, or merge this pull request online at:

https://github.com/jsk-ros-pkg/jsk_model_tools/pull/170

Commit Summary

[euscollada/src/collada2eus_urdfmodel.cpp] Fix location of gl::vertices setting. Move after geom is set. File Changes

M euscollada/src/collada2eus_urdfmodel.cpp (4) Patch Links:

https://github.com/jsk-ros-pkg/jsk_model_tools/pull/170.patch https://github.com/jsk-ros-pkg/jsk_model_tools/pull/170.diff — Reply to this email directly or view it on GitHub.

snozawa commented 8 years ago

Can you explain why this has not been a problem for existing robot?

This is because other robot currently do not use this code. Currently euscollada has two conversion code:collada2eus and collada2eus_urdf (maybe created by @YoheiKakiuchi ). Almost all of our robots use collada2eus. One of our closed robot uses collada2eus_urdf.

collada2eus is original code, but the code could not read one of our closed robot correctly. collada2eus_urdf use collada_parser in ROS and it can read the robot model file.

I and @YoheiKakiuchi would like to migrate from collada2eus to collada2eus_urdf because we do not need to maintain collada parsing code in collada2eus. To do so, we need to check all our robots and to add test code for conversion from COLLADA to Euslisp like https://github.com/fkanehiro/openhrp3/blob/master/test/test_modelloader.py.

The fundamental problem is that "correct" COLLADA reader is only openrave, not collada2eus, collada-parser in openhrp3, and collada_parser in ROS. These four collada parsing code is different. (I do not check latest collada_parser situation, but few years ago, the situation is like above)

There ware so many discussions about collada2eus model conversion, but I could not found the issue or pr...