add irtstl.l, irtwrl.l : copied from wrl2eus.l and read-stl.l

[k-okada]

we need many discussion on this

• filename

i created two file irtstl and irtwrl, but irtcad.l may another optoin

• stl

stl seems ok, but stl2eus takes facesset, so we need pass object such as

    (eus2stl tmpstl (body-to-faces b0) :scale 0.001)

may be the function should accept (eus2stl tmpstl b0)

• wrl

wrl is more complex, specially wrl2eus is very complex, and also there are another implementation at
https://github.com/euslisp/EusLisp/tree/master/lib/llib/vrmlParser.l

we can rename fuction name from dump-object-to-wrl to `wrl2vrml' and takes same arguments as eus2stl

[mmurooka]

ref of my comment: jsk-ros-pkg/jsk_model_tools#187 (comment)

[k-okada]

@eisoku9618 please check if this works for you

(load "irteus/demo/sample-robot-model.l")                                      
(setq *r* (instance sample-robot :init))                                       
(load "/opt/ros/indigo/share/pr2eus/pr2.l")                                    
(setq *pr2* (instance pr2-robot :init))                                        
(load "irtstl.l")
(eus2stl "robot-1.stl" *r*)                                                     
(eus2stl "robot-2.stl" *pr2*)

[eisoku9618]

Thank you and it works for me!

[Kanazawanaoaki]

こんなのあるの知りませんでした。感激です。@makabe0510

[k-okada]

@makabe0510 @chibi314 一ヶ月遅れぐらいなんだけど，eusだのstl/wrl だのの話ってのはあまり理解できていないんだけど，https://github.com/euslisp/jskeus/blob/ee49b6a27f2b2e0f393535bf13f3e32ec5f408c1/irteus/test/test-cad.l みたいなことができれば嬉しいのかな？それともeusからURDFか何かを作るときにcollision メッシュがstlだったらいいのかな？
だとすると，jsk-ros-pkg/jsk_model_tools#229 みたなことを手動でやったか，コッソリパッチがあったりするのかな．

[k-okada]

https://gist.github.com/k-okada/9513a9e32d7dbade3b664ef2baf1ebf5
にロボットのSTLを抽出するサンプルプログラムを作成