将YCB模型库中的obj格式文件导入VREP并保存为ttm文件

之前在Gazebo里做了个机械臂抓取的仿真环境，最近开始和其他小伙伴们一起学习，大家统一都用VREP了，VREP支持导入urdf，但是不知道为什么写好的urdf导入后模型的颜色都没了，另外考虑到导入模型后为了进行碰撞检测的计算，还是需要手动把模型简化不能直接用原来复杂的mesh文件，所以打算一个一个手动的把YCB数据集里的模型都导入进来然后调整好模型，存成ttm方便以后用。

一、下载YCB模型

网址在此。
YCB包含：

Data are collected by two state of the art systems: UC Berkley’s scanning rig and the Google scanner. For the data collected with the UC Berkley’s scanning rig (which is made up of RGB and RGB-D cameras and was also used for BigBIRD), we provide:

• a mesh generated with Poisson reconstruction
• a mesh generated with volumetric range image integration
• textured versions of both meshes
• Kinbody files for using the meshes with OpenRAVE
• point cloud of the object generated by all the viewpoints