dae file for meshes

[PedroDesRobots]

Hi,

We're using Talos inside our DART simulation, however, STL format is not handled properly concerning body color.
Is it possible to update your repo with the dae file as well ?

[v-lopez]

Hello Pedro,

We're moving this internally and will get back to you soon.

[lucamarchionni]

Hi Pedro,
we would like to follow-up this issue.
DAE with colors can be obtained from the provided STL files using MeshLab and the following command:

meshlabserver -i femur.STL -s black_coloring.mlx -o femur.dae -om vc

black_coloring.mlx is a simple script to define the color of the vertices.
To color the mesh in black (in RGB coordinates is (0,0,0)), it will be:

<!DOCTYPE FilterScript>
<FilterScript>
 <filter name="Vertex Color Filling">
  <Param type="RichDynamicFloat" value="0" min="0" name="r" max="255"/>
  <Param type="RichDynamicFloat" value="0" min="0" name="g" max="255"/>
  <Param type="RichDynamicFloat" value="0" min="0" name="b" max="255"/>
 </filter>
</FilterScript>

The DAE files should be used in the URDF for visual and collision geometries.
@PedroDesRobots Could you please test if this will work in DART?

[PedroDesRobots]

Hi @lucamarchionni,
I have converted the provided STL files using MeshLab and your simple script to define the color.
It creates the dae file properly. Then, when I open it with MeshLab the mesh is in black. At this point, it works.

At the begin with STL files, we obtain this Talos :

But I don't know why we got a "grey" Talos (no white or black parts) into DART with dae file.

Now, it's better. Talos is not transparent anymore but we don't obtain exactly the desired color.
I know that for iCub, the dae files were generated directly from Blender.

[PedroDesRobots]

In gazebo we got this Talos with dae files, thanks to material tag inside the urdf :

[lucamarchionni]

Hi,
visualization meshes in DAE format need a texture file for being properly rendered in Rviz.
I generated the new DAE meshes with texture and modified the URDF files in the branch "dae_meshes_with_color". @PedroDesRobots could you test it in DART?

[PedroDesRobots]

Hi,
it works clearly better with a texture file inside the DAE. Thanks a lot for generating those files 👍 .

It still to have transparent parts but at this point, it should be specific at DART I guess.

[FilippoSmald1]

Good moring,
I'm having troubles in parsing Talos in DART. I am trying to generate the urdf file from the urdf.xacro, by using something like

rosrun xacro xacro --inorder model.urdf.xacro > model.urdf

without success. @PedroDesRobots, @lucamarchionni, do you have any suggestion?
Thank you very much,
Filippo

[PedroDesRobots]

Hi @FilippoSmald1,

I don't know exactly your error but maybe you need to add some parameters like enable_crane (True or False) and foot_collision (default, thinbox, tallbox).

For example :
rosrun xacro xacro --inorder talos_full_common.urdf.xacro > test_talos.urdf enable_crane:=False foot_collision:=thinbox

[FilippoSmald1]

Thank you