[Rock-dev] [Ric-mars] Fwd: Re: Robot visualization in Vizkit3D

[Malte Langosz]

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
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E-Mail: malte.langosz at dfki.de

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