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

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

    Simple coloring shader example.

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

"""

mikedh

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

mikedh

import pyglet
import pyglet.gl as gl

import numpy as np

import os
import tempfile
import subprocess
import collections

mikedh

import os
import time
import trimesh
import numpy as np

tol_norm = 1e-4


def test_align(align):

mikedh

import os
import trimesh
import numpy as np

tol_norm = 1e-4


def test_align(align):
    """

mikedh

{"vertices": [[11.0, 0.0], [10.995184726672196, -0.0980171403295605], [10.98078528040323, -0.19509032201612808], [10.95694033573221, -0.2902846772544621], [10.923879532511286, -0.3826834323650894], [10.881921264348355, -0.4713967368259972], [10.831469612302545, -0.5555702330196017], [10.773010453362737, -0.6343932841636449], [10.707106781186548, -0.7071067811865469], [10.634393284163647, -0.7730104533627363], [10.555570233019603, -0.8314696123025447], [10.471396736825998, -0.8819212643483545], [10.382683432365091, -0.9238795325112863], [10.290284677254464, -0.9569403357322085], [10.19509032201613, -0.9807852804032302], [10.098017140329562, -0.9951847266721967], [10.000000000000002, -1.0], [9.901982859670442, -0.995184726672197], [9.804909677983874, -0.9807852804032308], [9.70971532274554, -0.9569403357322094], [9.617316567634912, -0.9238795325112875], [9.528603263174004, -0.881921264348356], [9.444429766980399, -0.8314696123025463], [9.365606715836357, -0.7730104533627382], [9.292893218813454, -0.707106781186

mikedh

import numpy as np
import trimesh

import timeit
import time

from collections import deque

import matplotlib.pyplot as plt
from scipy.spatial import cKDTree as KDTree

mikedh

import os
import trimesh

class FileSystemResolver(object):

    def __init__(self, source):
        """
        Resolve files based on a source path.
        """

mikedh

"""
bricks.py
-------------

Fun with meshes of bricks.
"""

import trimesh
import numpy as np