diff --git a/script/tools/matlab/effectorRomToObj.m b/script/tools/matlab/effectorRomToObj.m
new file mode 100755
index 0000000000000000000000000000000000000000..59ff8697e1d9723569c1aa2410d37277f2773d08
--- /dev/null
+++ b/script/tools/matlab/effectorRomToObj.m
@@ -0,0 +1,6 @@
+function [] = effectorRomToObj(filename, outname)
+delimiterIn = ',';
+headerlinesIn = 0;
+points = importdata(filename,delimiterIn,headerlinesIn);
+k = convhull(points);
+vertface2obj(points,k,outname)
diff --git a/script/tools/matlab/vertface2obj.m b/script/tools/matlab/vertface2obj.m
new file mode 100755
index 0000000000000000000000000000000000000000..04c887bbf168b40a26963a3343b397cd3acbbc8c
--- /dev/null
+++ b/script/tools/matlab/vertface2obj.m
@@ -0,0 +1,21 @@
+function vertface2obj(v,f,name)
+% VERTFACE2OBJ Save a set of vertice coordinates and faces as a Wavefront/Alias Obj file
+% VERTFACE2OBJ(v,f,fname)
+%     v is a Nx3 matrix of vertex coordinates.
+%     f is a Mx3 matrix of vertex indices. 
+%     fname is the filename to save the obj file.
+
+fid = fopen(name,'w');
+
+for i=1:size(v,1)
+fprintf(fid,'v %f %f %f\n',v(i,1),v(i,2),v(i,3));
+end
+
+fprintf(fid,'g foo\n');
+
+for i=1:size(f,1);
+fprintf(fid,'f %d %d %d\n',f(i,1),f(i,2),f(i,3));
+end
+fprintf(fid,'g\n');
+
+fclose(fid);