new respondable shape

[jjehl]

6 new respondables shapes (not tested with URDF import in V-REP)

[matthieu-lapeyre]

Some stuffs to modify:

• neck and l_thigh are not the respondable version
• you do not need to create a new URDF file but rather modify it by linking to responsible mesches in the collision

    <link name="pelvis">
        <inertial>
            <origin xyz="-0.000134932459328483 -0.000399086261064929 0.00195556930608449" rpy="0 0 0"></origin>
            <mass value="0.18520035953947"></mass>
            <inertia ixx="0.000101804322229161" ixy="3.56589402562651E-08" ixz="-1.38613151054156E-05" iyy="0.000142404075398435" iyz="-3.50682832702007E-06" izz="9.38193247222871E-05"></inertia>
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"></origin>
            <geometry>
                <mesh filename="package://meshes/pelvis.STL"></mesh>
            </geometry>
            <material name="">
                <color rgba="0.9 0.9 0.9 1.0"></color>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"></origin>
            <geometry>
                                CHANGE HERE
                <mesh filename="package://meshes/pelvis_respondable.STL"></mesh>
            </geometry>
        </collision>
    </link>

• rename r_leg and l_leg by r_shin and l_shin (new name cf https://github.com/poppy-project/Poppy-lightweight-biped-legs/issues/1)

[jjehl]

I rebuild all the shape because of position problems. Rename leg to shin and update of the URDF file. Import tested in V-REP.

[matthieu-lapeyre]

This is a very great job ! Thanks