Add files using upload-large-folder tool

simplified_objects/002.urdf

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+<robot name="002">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.0004184646001616902 -0.0018135412004310308 0.009338923943310653" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="002/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="002/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.0004184646001616902 -0.0018135412004310308 0.009338923943310653" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/005.urdf

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+<robot name="005">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.0027029582783772064 0.0008074693235716258 -0.000573084810827293" rpy="0 0 0" />
+			<geometry>
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+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="005/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.0027029582783772064 0.0008074693235716258 -0.000573084810827293" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/007.urdf

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+<robot name="007">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.001812067996849587 7.718664514341841e-05 0.011671075326248682" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="007/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="007/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.001812067996849587 7.718664514341841e-05 0.011671075326248682" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/011.urdf

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+<robot name="011">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.0006266574080394095 0.00034199349880953915 0.001516283662603128" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="011/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="011/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.0006266574080394095 0.00034199349880953915 0.001516283662603128" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/015.urdf

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+<robot name="015">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0007768103027972575 0.006907651485589038 0.0026110360822862878" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="015/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="015/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0007768103027972575 0.006907651485589038 0.0026110360822862878" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/016.urdf

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+<robot name="016">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.00020336915300882472 6.071201529689224e-06 0.0018007563604225567" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="016/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="016/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.00020336915300882472 6.071201529689224e-06 0.0018007563604225567" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/019/textured.obj.mtl

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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
+Tr 0.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+

simplified_objects/019/textured_simplified.obj.mtl

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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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+Kd 0.000000 0.000000 0.000000
+Ks 1.000000 1.000000 1.000000
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+				<mesh filename="052/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="052/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0065351844359940025 0.00568976371083285 -0.004917408207801445" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/053.urdf

@@ -0,0 +1,22 @@
+<robot name="053">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.00463028687801363 0.002937831855779938 -0.0003494239247968854" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="053/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="053/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.00463028687801363 0.002937831855779938 -0.0003494239247968854" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/055.urdf

@@ -0,0 +1,22 @@
+<robot name="055">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.006674468408206055 -0.006247071393370557 0.0017108391388632503" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="055/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="055/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.006674468408206055 -0.006247071393370557 0.0017108391388632503" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/056/textured.mtl

@@ -0,0 +1,7 @@
+# Created by Open3D 
+# object name: textured
+newmtl textured
+Ka 1.000 1.000 1.000
+Kd 1.000 1.000 1.000
+Ks 0.000 0.000 0.000
+map_Kd textured.png

simplified_objects/057.urdf

@@ -0,0 +1,22 @@
+<robot name="057">
+	<link name="_name">
+		<visual>
+			<origin xyz="6.0012197235968945e-05 0.006254095716177207 -0.0029810187284846695" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="057/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="057/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="6.0012197235968945e-05 0.006254095716177207 -0.0029810187284846695" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/058.urdf

@@ -0,0 +1,22 @@
+<robot name="058">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0002555917146479634 -0.0017814215581486233 0.00058345932881342" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="058/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="058/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0002555917146479634 -0.0017814215581486233 0.00058345932881342" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/059.urdf

@@ -0,0 +1,22 @@
+<robot name="059">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.00025500541247851173 -0.0001373488270232088 0.0001601513568625628" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="059/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="059/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.00025500541247851173 -0.0001373488270232088 0.0001601513568625628" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/062.urdf

@@ -0,0 +1,22 @@
+<robot name="062">
+	<link name="_name">
+		<visual>
+			<origin xyz="-8.329665273608667e-05 -0.013947048944310819 0.006524609131772443" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="062/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="062/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-8.329665273608667e-05 -0.013947048944310819 0.006524609131772443" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/064.urdf

@@ -0,0 +1,22 @@
+<robot name="064">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0013183050814595666 -0.004223567851590156 0.003060484793854906" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="064/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="064/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0013183050814595666 -0.004223567851590156 0.003060484793854906" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/066.urdf

@@ -0,0 +1,22 @@
+<robot name="066">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.003233088469621956 -0.0018646330501993456 -0.0005555990851044809" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="066/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="066/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.003233088469621956 -0.0018646330501993456 -0.0005555990851044809" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/068.urdf

@@ -0,0 +1,22 @@
+<robot name="068">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0004725445118435071 -0.0018777668034983912 0.0011784897306440646" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="068/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="068/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0004725445118435071 -0.0018777668034983912 0.0011784897306440646" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/070.urdf

@@ -0,0 +1,22 @@
+<robot name="070">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0004383100425045652 2.4384278752353704e-05 -0.0004750351641744001" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="070/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="070/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0004383100425045652 2.4384278752353704e-05 -0.0004750351641744001" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/072.urdf

@@ -0,0 +1,22 @@
+<robot name="072">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0031361999726157767 0.001570320726900406 -0.0006617549293328163" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="072/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="072/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0031361999726157767 0.001570320726900406 -0.0006617549293328163" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/073/textured.obj.mtl

@@ -0,0 +1,14 @@
+#
+# 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
+map_Kd textured.jpg
+

simplified_objects/073/textured_simplified.obj.mtl

@@ -0,0 +1,14 @@
+#
+# 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 1.000000
+illum 2
+Ns 0.000000
+map_Kd textured.jpg
+

simplified_objects/075.urdf

@@ -0,0 +1,22 @@
+<robot name="075">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.00058476917442879 -0.00848550416031007 0.004617923520621608" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="075/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="075/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.00058476917442879 -0.00848550416031007 0.004617923520621608" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/076.urdf

@@ -0,0 +1,22 @@
+<robot name="076">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0053694904341708045 0.0013264358642898805 0.001633992618778142" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="076/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="076/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0053694904341708045 0.0013264358642898805 0.001633992618778142" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/076/textured_simplified.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.749020 0.749020 0.749020
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+

simplified_objects/076/textured_simplified_vhacd.obj

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simplified_objects/078.urdf

@@ -0,0 +1,22 @@
+<robot name="078">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.006039680882764205 -0.004531587629854128 0.00287925125458149" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="078/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="078/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.006039680882764205 -0.004531587629854128 0.00287925125458149" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/080.urdf

@@ -0,0 +1,22 @@
+<robot name="080">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.0007265429783494195 0.006809956662367422 -0.004377182098024114" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="080/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="080/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="-0.0007265429783494195 0.006809956662367422 -0.004377182098024114" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/082.urdf

@@ -0,0 +1,22 @@
+<robot name="082">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.00020382311389764246 0.008893630974165893 -0.0029884157219785394" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="082/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="082/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.00020382311389764246 0.008893630974165893 -0.0029884157219785394" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/085.urdf

@@ -0,0 +1,22 @@
+<robot name="085">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.00011992485476397782 -0.0007538085196805148 0.0030075425307793564" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="085/textured_simplified.obj" scale="1 1 1" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="085/textured_simplified_vhacd.obj" scale="1 1 1" />
+			</geometry>
+		<origin xyz="0.00011992485476397782 -0.0007538085196805148 0.0030075425307793564" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="1.0" />
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+		</inertial>
+	</link>
+</robot>

simplified_objects/sim_mesh.mlx

@@ -0,0 +1,7 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Simplification: Clustering Decimation">
+  <Param isxmlparam="0" description="Cell Size" value="0.0005" max="0.287406" type="RichAbsPerc" tooltip="The size of the cell of the clustering grid. Smaller the cell finer the resulting mesh. For obtaining a very coarse mesh use larger values." min="0" name="Threshold"/>
+  <Param isxmlparam="0" description="Affect only selected faces" value="false" type="RichBool" tooltip="If selected the filter affect only the selected faces" name="Selected"/>
+ </filter>
+</FilterScript>

simplified_objects/sim_mesh.py

@@ -0,0 +1,23 @@
+import os
+
+#root = '../batch2'
+#objlist = sorted(os.listdir(root))
+
+for obj in range(0,89):
+    objname = str(obj).zfill(3)
+
+   # os.system('cp {}/close* ./'.format(os.path.join(root, objname), objname))
+    #os.system('meshlab.meshlabserver -s process_raw_scan.mlx -i close.obj -o textured.obj -m vc vf vq vn vt fc ff fq fn wc wn wt')
+    os.system('/home/fred/git/meshlab/distrib/meshlabserver -i {}/nontextured.ply -o {}/nontextured_simplified.ply -m vc vf vn fc ff fn -s sim_mesh.mlx'.format(objname,objname))
+    #os.system('mv textured* {}/'.format(objname))
+    #os.system('mv close.jpg {}/textured.jpg'.format(objname, objname))
+    #os.system('rm close*'.format(objname))
+    #f = open('{}/textured.obj.mtl'.format(objname))
+    #lines = f.readlines()
+    #f.close()
+    #os.system('rm {}/textured.obj.mtl'.format(objname))
+    #f = open('{}/textured.obj.mtl'.format(objname), 'w')
+    #lines[-2] = lines[-2].replace('close.jpg', 'textured.jpg')
+    #f.writelines(lines)
+    #f.close()
+    print(objname)