Tutorial to Shift the Mesh Origin Frame to the Center of the Mesh using Meshlab
===============================================================================

Overview
---------

``FoundationPose`` expects the origin frame to be at the center of the mesh. This tutorial walks you through the steps to shift the origin frame of a 3D mesh to the center using Meshlab.


Tutorial Walkthrough
--------------------

1. Download and install Meshlab from the [official website](https://www.meshlab.net/#download).
2. Click on `File` -> `Import Mesh` and select the `.obj` file you want to simplify:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_1.png>`
      :width: 600px
      :align: center

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_2.png>`
      :width: 600px
      :align: center

3. Click on the `Draw XYZ Axes in world coordinates`. If the axes is already at the center of the mesh (see the example in the end of this tutorial), you can stop this tutorial. Else if, the axes is not at the center of the mesh (see the example in this step of this tutorial), you can follow the next steps to center the axes to the mesh:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/draw_axes.png>`
      :width: 600px
      :align: center

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/bottom_axes.png>`
      :width: 600px
      :align: center

4. Click on the `Filters` -> `Normals, Curvatures and Orientation` -> `Transform : Translate, Center, set Origin`:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/center_drop_down.png>`
      :width: 600px
      :align: center

5. Select the `Center on Layer BBox` from the `Transformation` drop-down and click on `Apply` and then `Close`:
      
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/center_on_layer.png>`
      :width: 600px
      :align: center 

6. Verify that the mesh origin frame is at the center of the mesh as shown below:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/centered_axes.png>`
      :width: 600px
      :align: center
      
7. Click on `File` -> `Export Mesh As` and select the `.obj` format:
   
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_1.png>`
      :width: 600px
      :align: center
   
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_2.png>`
      :width: 600px
      :align: center