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ros / collada_urdf

Contains packages for converting collada files into URDF
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Model colours are ignored after an URDF to Collada conversion #18

Open ferrolho opened 6 years ago

ferrolho commented 6 years ago

I am trying to load .dae robot models using three.js, with their ColladaLoader2.js.

For example, I am trying to load the KUKA LBR IIWA robot model. The kuka_lbr_iiwa_support ROS package contains the .urdf and the meshes required by it.

The first thing I did was to convert the .urdf into a .dae model, by running the following command: rosrun collada_urdf urdf_to_collada lbr_iiwa_14_r820.urdf kuka_lbr_iiwa_14_r820.dae

This executes successfully, but once I load the resultant model the colours are all wrong. Here is the result:

kuka_lbr_iiwa_14_r820.dae kuka_lbr_iiwa_14_r820

However, if I load the partial .dae meshes under kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/, they load just fine:

kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae link_5

kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_6.dae link_6

sloretz commented 6 years ago

Hi @ferrolho thanks for clear issue! Currently exporting materials isn't supported, event when the source is also a collada file. There isn't any active work on this feature at the moment. If you happen to solve it a a pull request would be welcome.

ferrolho commented 6 years ago

Hey @sloretz ! Eventually, I'd like to come back to this issue...

A quick first analysis revealed that it doesn't seem to be a problem with collada_urdf.cpp: in line 964, _robot.materials_ does not seem to contain any elements, thus making me believe the problem lies with the way the urdf::Model robot_model gets initialized in urdf_to_collada.cpp#L59.

Do you have any past insights concerning this issue? Or is there anyone who might know?