Axes incorrect for Actor dae import from Adobe Mixamo

asked 2020-04-22 10:32:02 -0500

felcjo gravatar image

Hi, I have a dae file created from www.mixamo.com (which is _fantastic_ btw). When I import it into gazebo, the actor appears rotated 90deg about the x and z axes. Attempting to set the pose with the <pose> tag is fruitless. Setting the pose within animation waypoints works, but the footprint of the actor does not touch the ground.</pose>

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://sun</uri>
    </include>
    <actor name="actor">
      <skin>
        <filename>Yelling.dae</filename>
    <scale>1.0</scale>
      </skin>
      <pose>0 0 0 1.57 0 1.57</pose>
         <!--script>
            <loop>true</loop>
            <delay_start>0</delay_start>
            <auto_start>true</auto_start>
            <trajectory id="0" type="walking">
               <waypoint>
                  <time>0</time>
                  <pose>0 0 0 1.57 0 1.57</pose>
               </waypoint>
               <waypoint>
                  <time>3</time>
                  <pose>0 0 0 1.57 0 1.57</pose>
               </waypoint>
            </trajectory>
         </script-->
      <!--animation name="yelling">
    <filename>yell_anim.dae</filename>
      </animation-->
    </actor>
  </world>
</sdf>
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Comments

I noticed that collada files have a parameter for <up_axis>. The mixamo always has a value as Y_UP. The 'default' animations that come with gazebo are apparently made in blender and have a value of Z_UP for this field .. I tried changing the value of the mixamo dae file to Z_UP but this changes nothing. Using the libActorPlugin.so plugin seems to work, but I don't know how to plan a trajectory that way :/

felcjo gravatar imagefelcjo ( 2020-04-28 23:17:56 -0500 )edit