mikedh

{
  "scene": 0,
  "scenes": [{ "nodes": [0] }],
  "asset": {
    "version": "2.0",
    "generator": "https://github.com/mikedh/trimesh"
  },
  "accessors": [
    {
      "componentType": 5125,

mikedh

# -*- coding: utf-8 -*-
"""

    Simple coloring shader example.

    Press any number key (not on the numpad) to change the triangle color

"""

mikedh

robot-gltf

Summary

An effort to replace ROS packages describing a robot (a directory structure with URDF, SRDF, OBJ-MTL-STL-salad) with a single GLTF 2.0 GLB file including URDF and SRDF descriptions in the "extras" field of the GLTF header.

Proposed Robot-GLTF Format

• All geometry is put into a GLTF 2.0 .GLB file.
• Nodes in GLTF scene description are not used, but can be defined for visualization
• The URDF and SRDF descriptions are stored in the extras field of the GLTF header.
• Using the extras field keeps us completely compliant with the spec.

mikedh

import os

cwd = os.path.abspath(os.path.expanduser(os.path.dirname(__file__)))


def backup(frag):
    """
    Parse a string backwards to find the first value which can
    be a variable name, parenthisized or bracked expression.