Closed traversaro closed 2 years ago
"Random" in which sense? Isn't the "standard" anonymous whitish color?
if we want to fix the issue we need to it specifically for this model.
Fine with me! Since @xEnVrE authored it, I'll leave to him the final choice.
Hi @traversaro @pattacini,
fine with me. I imagine that I could check how the automatic pipeline changes the materials in the automatically generated models and apply the changes in the manually generated model.
@traversaro do you think this solution is doable? (I can take care of it.)
"Random" in which sense? Isn't the "standard" anonymous whitish color?
Actually, not. The whitish color we were mostly used to is due to a bug in URDF parsing that was both in iDynTree and in Classic Gazebo, but if you displayed the model in a ROS tool like RViz you were always getting it as an "Arlecchino". @GiulioRomualdi is fixing the issue in iDynTree (see https://github.com/robotology/idyntree/pull/961), so we were going to see an arlecchino robot in iDynTree, but in Classic Gazebo we will continue to see a whitish color.
Hi @traversaro @pattacini,
fine with me. I imagine that I could check how the automatic pipeline changes the materials in the automatically generated models and apply the changes in the manually generated model.
@traversaro do you think this solution is doable? (I can take care of it.)
Ok!
I made the changes.
Some notes:
icub-models
(not sure why the red color was picked up for the entire robot, however I will leave it in order to have coherent colors w.r.t. the automatically generated colors)I will use the idyntree-model-viewer
to show you the eyes as the meshcat-based one does not support spheres and cylinders, that are used for the visual description of the eyes.
If this configuration looks good I can open a PR with the changes. @traversaro @pattacini
Btw, I noticed that using the idyntree visualizer the colors of hand and fingers are not taken into account. Is this because they are dae
s instead of stl
?
Fine with me 👍🏻
(not sure why the red color was picked up for the entire robot, however I will leave it in order to have coherent colors w.r.t. the automatically generated colors)
Basically the one that do the modification get to choose the color, see https://github.com/robotology/icub-models-generator/pull/217#issuecomment-1024312288 . :D
Btw, I noticed that using the idyntree visualizer the colors of hand and fingers are not taken into account. Is this because they are daes instead of stl?
Yes, in the iDynTree visualizer .dae
files can specify their own color inside the file itself, so the URDF color file is not taken into account. This is also the behaviour of Gazebo if I recall correctly.
The model
iCubGazeboV2_5_visuomanip
added in https://github.com/robotology/icub-models/pull/42 has strange "random" colors. For automatically generated models, the issue will be fixed by https://github.com/robotology/icub-models-generator/pull/217, but foriCubGazeboV2_5_visuomanip
if we want to fix the issue we need to it specifically for this model.fyi @xEnVrE @pattacini