[cob_grasp_generation] Modelling gripper for OpenRAVE (URDF and Collada)

[fmessmer]

Documentation, Insights and hints regarding creating models for OpenRAVE in order to enable to use cob_grasp_generation for grippers other than SDH:

General-Doku:

• http://openrave.org/docs/latest_stable/

Modelling-Doku:

• http://openrave.programmingvision.com/wiki/index.php/Format:XML
• http://openrave.org/docs/latest_stable/robots_overview/

Mailinglist-Question:

• http://openrave-users-list.185357.n3.nabble.com/Creating-an-OpenRave-robot-model-of-a-robot-from-A-to-Z-td4025830.html

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Maybe we can still use the (OpenRAVE part of the) package but use the Robot-Editor or something similar to generate the required COLLADA gripper models for grippers other than SDH - automatic process from URDF would be preferred.

Candidates:

• RobotEditor:
  • http://opengrasp.sourceforge.net/robotEditor.html (:point_right: seems quite outdated, see here)
  • newer version: https://github.com/StefanUlbrich/RobotEditor

OpenRAVE alternatives are discussed in #79

@fmessmer FYI

[fmessmer]

Apparently, there is a converter tool in cob_kinematics (see #72) that might be worth investigation

Other candidates;

• http://wiki.ros.org/collada_urdf (:point_right: experiments described in [cob_grasp_generation] Convert URDF into OpenRAVE model for cob_grasp_generation #76)
• https://github.com/personalrobotics/or_urdf (:point_right: seems promising, give it a try)

[fmessmer]

Following #76, I wanted to quickly give the RobotEditor a shot.
Hhowever, it seems that it is quite outdated as it mainly has been developed for blender2.49a (see here) and blender2.49a requires python2.5 which is not available for 14.04 (without messing up the setup)....

Thus, RobotEditor seems outdates... at least, I haven't found any updates... but I did't try too hard to find them... Also, I haven't tried to set it up with e.g. blender2.69 (that comes with 14.04) or latest 2.77a from the blender website (https://www.blender.org/)

[fmessmer]

Update:
found something here: https://github.com/StefanUlbrich/RobotEditor - haven't tested it yet