Missing raw STL for Simmechanics generated models

[traversaro]

@bmagyar correctly pointed out that currently the SimMechanics generated models refer to meshes of the type model://iCubGenova02/meshes/dae/sim_sea_2-5_root_link_prt.dae.

This file names are generated by this value : https://github.com/robotology-playground/icub-model-generator/blob/master/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml#L4 of the filenameformatchangeext parameter of simmechanics-to-urdf. The actual meshes they are referring to (the original name can be obtained by removing the filenameformatchangeext option, or checking the content of the SimMechanics file) are the .STL generated by the SimMechanics Link Creo exporter. Those files are enormous, and we are not committing them directly in icub-model-generator/simmechanics/data/icub2_5/ to avoid to bloat the repo.
The ideal situation would be to have a semiautonomous pipeline to convert this meshes in something useful, but for the moment providing them in someway in this repo is the basic state to make the generate models actually useful.

[traversaro]

Related to #28 .

[traversaro]

I searched for the latest generated raw STL but I failed : ( .
I hope @fiorisi knows where they are stored.

[bmagyar]

So renaming the references in the urdf according to the yaml file you referenced should make the urdf-s work with the files from here ?

[traversaro]

@bmagyar sorry for the delay in replying.

Yes, those meshes where an outcome of another manual process of mesh generation by @fiorisi , however there were problems related to colors, but they should work fine beside that.

One problem is that since then we added the three wrist dofs to the generated model, those meshes do not include those DOFs (i.e. the forearm mesh include also the hand mesh).

[traversaro]

This needs to be solved for the IHMC integration.

[traversaro]

See https://github.com/gerkey/ros1_external_use#installing-for-use-by-tools-like-roslaunch for how to install the files in a way that are found by the package:// URI in URDF.

[traversaro]

Fixed by #46 (even if support for package:// URI is still missing in iDynTree: robotology/idyntree#291 ).