From b11809834272020ee4bf893ea47acbe6919b4722 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 28 Jan 2022 15:50:03 +0100 Subject: [PATCH 1/2] Fix the colors for icub2_5 --- .../ICUB_2-5_BB_simmechanics_options.yaml.in | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in index 62272a16..3df06482 100644 --- a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in @@ -924,6 +924,48 @@ sensors: @FT_IMU_SENSORS@ @XSENS_IMU_SENSOR@ +# fix the colors for the icub +assignedColors: + root_link : [0.90, 0.90, 0.90, 1] + torso_1 : [0.90, 0.90, 0.90, 1] + torso_2 : [0.90, 0.90, 0.90, 1] + chest : [0.635, 0.137, 0.114, 1] + l_shoulder_1: [0.90, 0.90, 0.90, 1] + r_shoulder_1: [0.90, 0.90, 0.90, 1] + l_shoulder_2: [0.90, 0.90, 0.90, 1] + r_shoulder_2: [0.90, 0.90, 0.90, 1] + r_shoulder_3: [0.90, 0.90, 0.90, 1] + l_shoulder_3: [0.90, 0.90, 0.90, 1] + l_upper_arm : [0.635, 0.137, 0.114, 1] + r_upper_arm : [0.635, 0.137, 0.114, 1] + r_hip_1 : [0.90, 0.90, 0.90, 1] + r_hip_2 : [0.90, 0.90, 0.90, 1] + r_hip_3 : [0.635, 0.137, 0.114, 1] + r_upper_leg : [0.635, 0.137, 0.114, 1] + r_lower_leg : [0.635, 0.137, 0.114, 1] + r_ankle_1 : [0.90, 0.90, 0.90, 1] + r_ankle_2 : [0.90, 0.90, 0.90, 1] + r_foot : [0.635, 0.137, 0.114, 1] + l_hip_1 : [0.90, 0.90, 0.90, 1] + l_hip_2 : [0.90, 0.90, 0.90, 1] + l_hip_3 : [0.635, 0.137, 0.114, 1] + l_upper_leg : [0.635, 0.137, 0.114, 1] + l_lower_leg : [0.635, 0.137, 0.114, 1] + l_ankle_1 : [0.90, 0.90, 0.90, 1] + l_ankle_2 : [0.90, 0.90, 0.90, 1] + l_foot : [0.635, 0.137, 0.114, 1] + l_elbow_1 : [0.635, 0.137, 0.114, 1] + r_elbow_1 : [0.635, 0.137, 0.114, 1] + l_forearm : [0.635, 0.137, 0.114, 1] + r_forearm : [0.635, 0.137, 0.114, 1] + l_wrist_1 : [0.90, 0.90, 0.90, 1] + r_wrist_1 : [0.90, 0.90, 0.90, 1] + l_hand : [0.90, 0.90, 0.90, 1] + r_hand : [0.90, 0.90, 0.90, 1] + neck_1 : [0.90, 0.90, 0.90, 1] + neck_2 : [0.90, 0.90, 0.90, 1] + neck_3 : [0.90, 0.90, 0.90, 1] + head : [1, 1, 1, 1] # Workaround options @REVERSE_ROTATION_AXIS@ From d370859bf33ba2c5938e831cee753a2b20dc58a2 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Fri, 28 Jan 2022 15:50:26 +0100 Subject: [PATCH 2/2] Fix the colors for icub3 --- .../data/icub3/ICUB_3_all_options.yaml | 44 +++++++++++++++++++ .../icub3/ICUB_3_all_options_gazebo.yaml.in | 44 +++++++++++++++++++ 2 files changed, 88 insertions(+) diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml index 4ab4556b..cc7e6ade 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options.yaml +++ b/simmechanics/data/icub3/ICUB_3_all_options.yaml @@ -452,6 +452,50 @@ assignedMasses: neck_3 : 0.179822835 head : 1.831737118 +assignedColors: + root_link : [0.70, 0.70, 0.70, 1] + torso_1 : [0.70, 0.70, 0.70, 1] + torso_2 : [0.70, 0.70, 0.70, 1] + chest : [0.3, 0.3, 0.3, 1] + l_shoulder_1: [0.70, 0.70, 0.70, 1] + r_shoulder_1: [0.70, 0.70, 0.70, 1] + l_shoulder_2: [0.70, 0.70, 0.70, 1] + r_shoulder_2: [0.70, 0.70, 0.70, 1] + r_shoulder_3: [0.70, 0.70, 0.70, 1] + l_shoulder_3: [0.70, 0.70, 0.70, 1] + l_upper_arm : [0.3, 0.3, 0.3, 1] + r_upper_arm : [0.3, 0.3, 0.3, 1] + r_hip_1 : [0.70, 0.70, 0.70, 1] + r_hip_2 : [0.70, 0.70, 0.70, 1] + r_hip_3 : [0.3, 0.3, 0.3, 1] + r_upper_leg : [0.70, 0.70, 0.70, 1] + r_lower_leg : [0.3, 0.3, 0.3, 1] + r_ankle_1 : [0.70, 0.70, 0.70, 1] + r_ankle_2 : [0.3, 0.3, 0.3, 1] + r_foot_front: [1, 0.51, 0.0, 1] + r_foot_rear : [1, 0.51, 0.0, 1] + l_hip_1 : [0.70, 0.70, 0.70, 1] + l_hip_2 : [0.70, 0.70, 0.70, 1] + l_hip_3 : [0.3, 0.3, 0.3, 1] + l_upper_leg : [0.70, 0.70, 0.70, 1] + l_lower_leg : [0.3, 0.3, 0.3, 1] + l_ankle_1 : [0.70, 0.70, 0.70, 1] + l_ankle_2 : [0.3, 0.3, 0.3, 1] + l_foot_front: [1, 0.51, 0.0, 1] + l_foot_rear : [1, 0.51, 0.0, 1] + l_elbow_1 : [0.3, 0.3, 0.3, 1] + r_elbow_1 : [0.3, 0.3, 0.3, 1] + l_forearm : [0.3, 0.3, 0.3, 1] + r_forearm : [0.3, 0.3, 0.3, 1] + l_wrist_1 : [0.70, 0.70, 0.70, 1] + r_wrist_1 : [0.70, 0.70, 0.70, 1] + l_hand : [0.70, 0.70, 0.70, 1] + r_hand : [0.70, 0.70, 0.70, 1] + neck_1 : [0.70, 0.70, 0.70, 1] + neck_2 : [0.70, 0.70, 0.70, 1] + neck_3 : [0.70, 0.70, 0.70, 1] + head : [0.70, 0.70, 0.70, 1] + reverseRotationAxis: r_hip_yaw r_hip_roll diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in index 746a7f69..39a763ca 100644 --- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in +++ b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in @@ -540,6 +540,50 @@ mirroredInertia: simmetryReferenceLink: root_link symmetryPlane: xz +assignedColors: + root_link : [0.90, 0.90, 0.90, 1] + torso_1 : [0.90, 0.90, 0.90, 1] + torso_2 : [0.90, 0.90, 0.90, 1] + chest : [0.3, 0.3, 0.3, 1] + l_shoulder_1: [0.90, 0.90, 0.90, 1] + r_shoulder_1: [0.90, 0.90, 0.90, 1] + l_shoulder_2: [0.90, 0.90, 0.90, 1] + r_shoulder_2: [0.90, 0.90, 0.90, 1] + r_shoulder_3: [0.90, 0.90, 0.90, 1] + l_shoulder_3: [0.90, 0.90, 0.90, 1] + l_upper_arm : [0.3, 0.3, 0.3, 1] + r_upper_arm : [0.3, 0.3, 0.3, 1] + r_hip_1 : [0.90, 0.90, 0.90, 1] + r_hip_2 : [0.90, 0.90, 0.90, 1] + r_hip_3 : [0.3, 0.3, 0.3, 1] + r_upper_leg : [0.90, 0.90, 0.90, 1] + r_lower_leg : [0.3, 0.3, 0.3, 1] + r_ankle_1 : [0.90, 0.90, 0.90, 1] + r_ankle_2 : [0.3, 0.3, 0.3, 1] + r_foot_front: [1, 0.51, 0.0, 1] + r_foot_rear : [1, 0.51, 0.0, 1] + l_hip_1 : [0.90, 0.90, 0.90, 1] + l_hip_2 : [0.90, 0.90, 0.90, 1] + l_hip_3 : [0.3, 0.3, 0.3, 1] + l_upper_leg : [0.90, 0.90, 0.90, 1] + l_lower_leg : [0.3, 0.3, 0.3, 1] + l_ankle_1 : [0.90, 0.90, 0.90, 1] + l_ankle_2 : [0.3, 0.3, 0.3, 1] + l_foot_front: [1, 0.51, 0.0, 1] + l_foot_rear : [1, 0.51, 0.0, 1] + l_elbow_1 : [0.3, 0.3, 0.3, 1] + r_elbow_1 : [0.3, 0.3, 0.3, 1] + l_forearm : [0.3, 0.3, 0.3, 1] + r_forearm : [0.3, 0.3, 0.3, 1] + l_wrist_1 : [0.90, 0.90, 0.90, 1] + r_wrist_1 : [0.90, 0.90, 0.90, 1] + l_hand : [0.90, 0.90, 0.90, 1] + r_hand : [0.90, 0.90, 0.90, 1] + neck_1 : [0.90, 0.90, 0.90, 1] + neck_2 : [0.90, 0.90, 0.90, 1] + neck_3 : [0.90, 0.90, 0.90, 1] + head : [0.9, 0.9, 0.9, 1] + reverseRotationAxis: r_hip_yaw r_hip_roll