13 May

RoCo + Webots

Chang Liu computational design

Updates:

  1. RoCo can save components separately, in .stl files
  2. Coordinate can be saved in .wbt required format in .txt files
  3. Facet normal can be saved in .wbt required format in .txt files

Details

  1. Coordinate points of each component have been saved. Example: RoCo-Saved-Coord (left) v.s. Webots-Imported-RoCo-Coord (right)

Locations of point are the same, RoCo-saved-coord has more repetitions.

  1. Normal vectors are saved in .txt. This part is simple, since normal vectors are just zeros.

To-Dos:

  1. CoordIndex needs to be specified ("IndexedFaceSet uses the indices in its coordIndex field to specify the polygonal faces by indexing into the coordinates in the Coordinate node. An index of "-1" indicates that the current face has ended and the next one begins."): some doc to look at. An example:

  1. Manually copy and paste coordinate.txt, facet-normal.txt and coordindex.txt into .wbt template
  2. Figure out and log rotational axis locations, if any
  3. (If 2 works) Write python script to generate .wbt automatically

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