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Add the nice meshes for ergocub V1/V1_1/V1_2 #266

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merged 5 commits into from
Oct 7, 2024
Merged

Add the nice meshes for ergocub V1/V1_1/V1_2 #266

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24b05a0
SN000/V1: put origin of visual and collision to 000 000 for the new m…
Nicogene Oct 3, 2024
b06e34e
Add .obj meshes + fix collision for the V1 soles
Nicogene Oct 3, 2024
d3aac4f
fixup
Nicogene Oct 3, 2024
59eb54e
Update yml accordingly to the obj files
Nicogene Oct 4, 2024
5e075c1
Add the new meshes
Nicogene Oct 4, 2024
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2 changes: 1 addition & 1 deletion urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
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Expand Up @@ -6,7 +6,7 @@ originXYZ: [0.0,0.0,0.80]
originRPY: [0.0,0.0,0.0]
# Meshes options
scale: [0.001,0.001,0.001]
filenameformat: "package://ergoCub/meshes/simmechanics/%s.stl"
filenameformat: "package://ergoCub/meshes/simmechanics/%s.obj"
epsilon: 2e-4

forcelowercase: Yes
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2 changes: 1 addition & 1 deletion urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
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Expand Up @@ -6,7 +6,7 @@ originXYZ: [0.0,0.0,0.80]
originRPY: [0.0,0.0,0.0]
# Meshes options
scale: [0.001,0.001,0.001]
filenameformat: "package://ergoCub/meshes/simmechanics/%s.stl"
filenameformat: "package://ergoCub/meshes/simmechanics/%s.obj"
epsilon: 2e-4

forcelowercase: Yes
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37 changes: 37 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_chest.obj.mtl
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@@ -0,0 +1,37 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 1.000000 1.000000 1.000000
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_1
Ka 0.200000 0.200000 0.200000
Kd 0.254902 0.411765 0.882353
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_2
Ka 0.200000 0.200000 0.200000
Kd 0.254902 0.411765 0.882353
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_3
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

37 changes: 37 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head.obj.mtl
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@@ -0,0 +1,37 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.584314 0.584314 0.584314
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_1
Ka 0.200000 0.200000 0.200000
Kd 0.333333 0.360784 0.380392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_2
Ka 0.200000 0.200000 0.200000
Kd 0.631373 0.682353 0.745098
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_3
Ka 0.200000 0.200000 0.200000
Kd 1.000000 1.000000 1.000000
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_2.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_head_neck_3.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

21 changes: 21 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_ankle_2.obj.mtl
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@@ -0,0 +1,21 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 1.000000 1.000000 1.000000
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_1
Ka 0.200000 0.200000 0.200000
Kd 0.254902 0.411765 0.882353
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_front.obj.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_foot_rear.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

37 changes: 37 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_forearm.obj.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 1.000000 1.000000 1.000000
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_1
Ka 0.200000 0.200000 0.200000
Kd 0.254902 0.411765 0.882353
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_2
Ka 0.200000 0.200000 0.200000
Kd 0.254902 0.411765 0.882353
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

newmtl material_3
Ka 0.200000 0.200000 0.200000
Kd 0.000000 0.000000 0.000000
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.658824 0.658824 0.658824
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_2.obj.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_index_3.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_middle_2.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_palm.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_pinkie_2.obj.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_ring_2.obj.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_1.obj.mtl
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@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

13 changes: 13 additions & 0 deletions urdf/ergoCub/meshes/simmechanics/sim_ecub_1-1_l_hand_thumb_2.obj.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
#
# Wavefront material file
# Converted by Meshlab Group
#

newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.980392 0.980392 0.980392
Ks 1.000000 1.000000 1.000000
Tr 0.000000
illum 2
Ns 0.000000

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