Commit 39ce849d authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

only use obj files

parent 2c15b13a
......@@ -9,7 +9,6 @@ This project develops a neuromuscular controller to achieve human-like locomotio
* [animationR](animationR): folder to save the animations and the CAD files of the 3D visualization
* [obj](animationR/obj): OBJ files (.obj) for the 3D visualization
* [python](animationR/python): python scripts to generate visualization (CAD...) files for a mesh like GCM (Ground Contact Model)
* [vrml](animationR/vrml): VRML files (.wrl) for the 3D visualization
* [dataR](dataR): XML files (.mbs) describing the multi-body properties (structure, masses, inertia...) of the different COMAN models, together with visualization information
* [elem](dataR/elem): .mbs files which can be combined to make bigger .mbs files
* [extra](dataR/extra): extra model-related files, like indexes
......@@ -273,7 +272,7 @@ In particular, we define a GCM able to reproduce any ground equation which can
The feet are defined as a mesh of points. Each [WholeFeet](userFiles/simu/forces/meshGCM/specific_whole_feet/flex/WholeFlexFeet.hh) class can include several rigid feet parts (usually two for rigid feet), which are described by the class [ContactFoot](userFiles/simu/forces/meshGCM/specific_foot/generic/ContactFoot.hh). An example of this mesh can be found in the class [ShortFoot](userFiles/simu/forces/meshGCM/specific_foot/rect/ShortFoot.cc). Pay attention that increasing the mesh size can increase the computational simulation time (GCM can be an important part of the computational time in case of huge feet meshes).
Visualization files can be generated using python scripts located in [this folder](animationR/python). This generation is done with [numpy-STL](https://github.com/WoLpH/numpy-stl). [gen_mesh.py](animationR/python/gen_mesh.py) is a generic file which can be called by different python scripts. An example is provided in [this file](animationR/python/gen_expl_ground.py). The output is a STL file (.stl). Using [Blender](https://www.blender.org/), it is then possible to import the STL file, to extrude it, to color it, and finally, to generate a VRML file (.wrl) or and OBJ file (.obj), which can be included in the Robotran 3D visualization.
Visualization files can be generated using python scripts located in [this folder](animationR/python). This generation is done with [numpy-STL](https://github.com/WoLpH/numpy-stl). [gen_mesh.py](animationR/python/gen_mesh.py) is a generic file which can be called by different python scripts. An example is provided in [this file](animationR/python/gen_expl_ground.py). The output is a STL file (.stl). Using [Blender](https://www.blender.org/), it is then possible to import the STL file, to extrude it, to color it, and finally, to generate an OBJ file (.obj), which can be included in the Robotran 3D visualization.
Another possibility for the GCM is to use the *contactGeom* library, located in [this folder](userFiles/simu/forces/contactGeom). To do this, the file [SimuOptions.c](userFiles/simu/io/simu_options/SimuOptions.c) must be configured to change *gcm_model* from *MESH_GCM_MODEL* to *PRIM_GCM_MODEL* (primitive-based GCM). In the same file, it is possible to activate the flag *body_contact* to use body contacts, using the same library. More information about this library can be found [here](userFiles/simu/forces/contactGeom/contactGeom.md). Yet, this library is currently less accurate than the mesh-based one. All results were obtained using the mesh-based method aforementioned. The *contactGeom* library was mainly used to throw objects to the COMAN body.
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All the wavefront parts have the same reference CSYS located in the middle of the feet.
They are numbered as follow:
- from 1 to 6 is the left legs
- from 7 to 7 is the waist
- 10 is the chest
- from 11 to 14 is the left arm
- from 15 to 20 is the right leg
- from 21 to 24 is the right arm
\ No newline at end of file
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}
}
#VRML V2.0 utf8
#modeled using blender3d http://blender.org
# 'Flex Toe Ab'
Shape {
appearance Appearance {
material Material {
}
}
geometry IndexedFaceSet {
coord Coordinate {
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}
colorPerVertex FALSE
color Color {
color [ 0.00 0.59 0.00 ]
}
colorIndex [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]
coordIndex [ 0 2 1 -1 2 0 3 -1 1 5 4 -1 5 1 2 -1 4 7 6 -1 7 4 5 -1 6 9 8 -1 9 6 7 -1 8 11 10 -1 11 8 9 -1 10 13 12 -1 13 10 11 -1 12 15 14 -1 15 12 13 -1 14 17 16 -1 17 14 15 -1 16 19 18 -1 19 16 17 -1 20 21 22 -1 22 23 20 -1 21 24 25 -1 25 22 21 -1 24 26 27 -1 27 25 24 -1 26 28 29 -1 29 27 26 -1 28 30 31 -1 31 29 28 -1 30 32 33 -1 33 31 30 -1 32 34 35 -1 35 33 32 -1 34 36 37 -1 37 35 34 -1 36 38 39 -1 39 37 36 -1 2 3 23 -1 11 9 29 -1 5 2 22 -1 0 1 20 -1 6 8 26 -1 9 7 27 -1 14 16 36 -1 19 17 39 -1 12 14 32 -1 18 19 38 -1 17 15 37 -1 1 4 21 -1 7 5 25 -1 8 10 28 -1 16 18 38 -1 4 6 24 -1 3 0 23 -1 13 11 31 -1 10 12 30 -1 15 13 33 -1 22 2 23 -1 31 11 29 -1 25 5 22 -1 1 21 20 -1 8 28 26 -1 29 9 27 -1 34 14 36 -1 17 37 39 -1 14 34 32 -1 19 39 38 -1 15 35 37 -1 4 24 21 -1 27 7 25 -1 10 30 28 -1 36 16 38 -1 6 26 24 -1 0 20 23 -1 33 13 31 -1 12 32 30 -1 35 15 33 -1 ]
}
}
#VRML V2.0 utf8
#modeled using blender3d http://blender.org
# 'Flex Toe'
Shape {
appearance Appearance {
material Material {
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [ 0.080000 0.014000 -0.020000 0.070000 0.012500 -0.020000 0.070000 0.012500 0.020000 0.080000 0.014000 0.020000 0.060000 0.010000 -0.020000 0.060000 0.010000 0.020000 0.050000 0.007500 -0.020000 0.050000 0.007500 0.020000 0.040000 0.005000 -0.020000 0.040000 0.005000 0.020000 0.030000 0.003000 -0.020000 0.030000 0.003000 0.020000 0.020000 0.001500 -0.020000 0.020000 0.001500 0.020000 0.010000 0.000500 -0.020000 0.010000 0.000500 0.020000 0.000000 0.000000 -0.020000 0.000000 0.000000 0.020000 -0.010000 0.000000 -0.020000 -0.010000 0.000000 0.020000 0.080000 0.019855 -0.020000 0.070000 0.018355 -0.020000 0.070000 0.018355 0.020000 0.080000 0.019855 0.020000 0.060000 0.015855 -0.020000 0.060000 0.015855 0.020000 0.050000 0.013355 -0.020000 0.050000 0.013355 0.020000 0.040000 0.010855 -0.020000 0.040000 0.010855 0.020000 0.030000 0.008162 -0.020000 0.030000 0.008162 0.020000 0.020000 0.005709 -0.020000 0.020000 0.005709 0.020000 0.010000 0.004709 -0.020000 0.010000 0.004709 0.020000 0.000000 0.004209 -0.020000 0.000000 0.004209 0.020000 -0.010000 0.004209 -0.020000 -0.010000 0.004209 0.020000 ]
}
colorPerVertex FALSE
color Color {
color [ 0.80 0.00 0.00 ]
}
colorIndex [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]
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}
}
#VRML V2.0 utf8
#modeled using blender3d http://blender.org
# 'Flex Toe Ab'
Shape {
appearance Appearance {
material Material {
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [ 0.071000 0.006468 -0.020000 0.060900 0.005970 -0.020000 0.060900 0.005970 0.020000 0.071000 0.006468 0.020000 0.050700 0.004478 -0.020000 0.050700 0.004478 0.020000 0.040500 0.002985 -0.020000 0.040500 0.002985 0.020000 0.030300 0.001490 -0.020000 0.030300 0.001490 0.020000 0.020150 0.000498 -0.020000 0.020150 0.000498 0.020000 0.010050 0.000000 -0.020000 0.010050 0.000000 0.020000 0.000000 0.000000 -0.020000 0.000000 0.000000 0.020000 -0.010000 0.000498 -0.020000 -0.010000 0.000498 0.020000 -0.019950 0.002040 -0.020000 -0.019950 0.002040 0.020000 0.071000 0.011956 -0.020000 0.060900 0.011458 -0.020000 0.060900 0.011458 0.020000 0.071000 0.011956 0.020000 0.050700 0.009966 -0.020000 0.050700 0.009966 0.020000 0.040500 0.008473 -0.020000 0.040500 0.008473 0.020000 0.030300 0.006354 -0.020000 0.030300 0.006354 0.020000 0.020150 0.004614 -0.020000 0.020150 0.004614 0.020000 0.010050 0.004116 -0.020000 0.010050 0.004116 0.020000 0.000000 0.003991 -0.020000 0.000000 0.003991 0.020000 -0.010000 0.003865 -0.020000 -0.010000 0.003865 0.020000 -0.019950 0.005407 -0.020000 -0.019950 0.005407 0.020000 ]
}
colorPerVertex FALSE
color Color {
color [ 1.00 0.00 0.00 ]
}
colorIndex [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]
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}
}
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