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Fix the colors for iCubV2_5 and iCubV3 #217

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merged 2 commits into from
Jan 28, 2022
Merged

Fix the colors for iCubV2_5 and iCubV3 #217

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b118098
Fix the colors for icub2_5
GiulioRomualdi Jan 28, 2022
d370859
Fix the colors for icub3
GiulioRomualdi Jan 28, 2022
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42 changes: 42 additions & 0 deletions simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
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Original file line number Diff line number Diff line change
Expand Up @@ -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@
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44 changes: 44 additions & 0 deletions simmechanics/data/icub3/ICUB_3_all_options.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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44 changes: 44 additions & 0 deletions simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down