{"type":"doc","content":[{"type":"paragraph","content":[{"text":"Done","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"put Inertia and Mass data in links","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"fixed urdf reader so we can get every information from urdf","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"find another urdf reader which is more easy to use but need to check if it is applicable to our assemble code","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"TODO","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"needs to figure out which urdf reader we will use to finish assemble quickly","type":"text"}]},{"type":"extension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"legacy-content","text":"","parameters":{"reason":"A table in list item can't be created or edited in the new editor.","nestedContent":{"type":"doc","content":[{"type":"table","attrs":{"layout":"align-start"},"content":[{"type":"tableRow","content":[{"type":"tableHeader","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"original one","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableHeader","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"new one","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"we already get 80%of model","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"need not to change urdf file at all mapping index and links automatically in parents-child order","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"need to change urdf file a little(ex. \" -> ') mapping manually","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"needs some more debugging and doublecheking if we get proper data have to start from the first","type":"text"}]}]}]}]}],"version":1},"cxhtml":"

original one	new one
we already get 80%of model	need not to change urdf file at all mapping index and links automatically in parents-child order
need to change urdf file a little(ex. " -> ') mapping manually	needs some more debugging and doublecheking if we get proper data have to start from the first

"}}}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"To build collision models for dynamic behavior and to finalize the parser program.","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"text":" ","type":"text"}]}],"version":1}

[2016.09.22]