object_models

How to add new/modified (e.g. scale up an object) model to BCI system

From .vtk file:

1. pcl_vtk2ply file_name.vtk file_name.ply
2. meshlab file_name.ply

• export as file_name_forIV.stl
• Filters > Normals, Curvatures and Orientation > Transform:Scale
  • 0.001 (uniform scaling)
  • export as file_name.stl

3. ivcon

• <file_name_forIV.stl

• file_name.iv

• quit

4. follow from step 6 below
5. rm .ply file

From .stl file:

1. Open old .stl file in meshlab and modify as needed

• $ meshlab old_object.stl

2. Export as .stl
3. Scale up by 1000 and export as .obj (with normals) and .stl (for iv)
4. run $ python obj_to_vtk.py on .obj to save as .vtk in robert_data_unique
5. run ivcon:

• $ ivcon
• <scaled_up_model.stl
• >output_iv_file.iv

6. move .iv file to graspit-ros/graspit/graspit_source/models/object_database
7. duplicate an xml file in object_database to add the new .iv file
8. rm .stl file used for iv
9. moveit_trajectory_planner/scripts/world_manager_helpers/object_filename_dict.py add new stl model file_name path add new model to file_name_dict
10. .../models.launch

• add model to rosparam
• add model and path to param name for vtk and stl

11. verify new models with pcl_viewer