reduce some meshes

[nim65s]

Hi,

Here is a first pass to try to reduce some meshes. I tried meshlab's "decimation quadratic edge collapse" and/or "merge close vertices", and displayed the mesh before and after those steps in gepetto-gui & meshcat, to only keep meshlab's changes after visual inspection.

for reference, I used: https://gist.github.com/nim65s/295bc6eda86dc8250e982dac566a96f5

before:

8.9M robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae
7.2M robots/baxter_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE
4.9M robots/baxter_description/meshes/torso/base_link.DAE
 88M robots/go1_description/meshes/trunk.dae

after:

1.7M robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae
2.2M robots/baxter_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE
2.6M robots/baxter_description/meshes/torso/base_link.DAE
 28M robots/go1_description/meshes/trunk.dae

we still have robots/b1_description/meshes/trunk.dae at 24M and robots/go1_description/meshes/trunk.dae at 28M, so this might need additional work.

[wxmerkt]

Thank you! Quick check: Did you try the meshes in rviz as well?

[nim65s]

not yet, I'll add this in my next pass, next week. I'd like to push a bit more on the optimization of the 2 worst files,

[nim65s]

I also checked on rviz: it's OK.

I tried a bit reducing more the 2 biggest files, but had to gave up after meshlab ate all my ram multiple times.