def runTest(self):
self.vis.delete()
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["cube"].set_object(g.Box([0.1, 0.2, 0.3]))
v["cube"].set_transform(tf.translation_matrix([0.05, 0.1, 0.15]))
v["cylinder"].set_object(g.Cylinder(0.2, 0.1), g.MeshLambertMaterial(color=0x22dd22))
v["cylinder"].set_transform(tf.translation_matrix([0, 0.5, 0.1]).dot(tf.rotation_matrix(-np.pi / 2, [1, 0, 0])))
v["sphere"].set_object(g.Mesh(g.Sphere(0.15), g.MeshLambertMaterial(color=0xff11dd)))
v["sphere"].set_transform(tf.translation_matrix([0, 1, 0.15]))
v["ellipsoid"].set_object(g.Ellipsoid([0.3, 0.1, 0.1]))
v["ellipsoid"].set_transform(tf.translation_matrix([0, 1.5, 0.1]))
v = self.vis["meshes/valkyrie/head"]
v.set_object(g.Mesh(
g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "data/head_multisense.obj")),
g.MeshLambertMaterial(
map=g.ImageTexture(
image=g.PngImage.from_file(os.path.join(meshcat.viewer_assets_path(), "data/HeadTextureMultisense.png"))
)
)
))
v.set_transform(tf.translation_matrix([0, 0.5, 0.5]))
v = self.vis["points"]
v.set_transform(tf.translation_matrix([-1, 0, 0]))
verts = np.random.rand(3, 100000)
colors = verts
v["random"].set_object(g.PointCloud(verts, colors))
v["random"].set_transform(tf.translation_matrix([-0.5, -0.5, 0]))
def runTest(self):
""" Applications using meshcat may already have meshes loaded in memory. It is
more efficient to load these meshes with streams rather than going to and then
from a file on disk. To test this we are importing meshes from disk and
converting them into streams so it kind of defeats the intended purpose! But at
least it tests the functionality.
"""
self.vis.delete()
v = self.vis["meshes/convex"]
# Obj file
filename = os.path.join(meshcat.viewer_assets_path(),
"../tests/data/mesh_0_convex_piece_0.obj")
with open(filename, "r") as f:
fio = StringIO(f.read())
v["stream_obj"].set_object(
g.Mesh(g.ObjMeshGeometry.from_stream(fio)))
v["stream_stl_ascii"].set_transform(
tf.translation_matrix([0, 0.0, 0]))
# STL ASCII
filename = os.path.join(
meshcat.viewer_assets_path(),
"../tests/data/mesh_0_convex_piece_0.stl_ascii")
with open(filename, "r") as f:
fio = StringIO(f.read())
v["stream_stl_ascii"].set_object(
g.Mesh(g.StlMeshGeometry.from_stream(fio)))
v["stream_stl_ascii"].set_transform(
tf.translation_matrix([0, -0.5, 0]))
# STL Binary
filename = os.path.join(
meshcat.viewer_assets_path(),
"../tests/data/mesh_0_convex_piece_0.stl_binary")
with open(filename, "rb") as f:
fio = BytesIO(f.read())
v["stream_stl_binary"].set_object(
g.Mesh(g.StlMeshGeometry.from_stream(fio)))
v["stream_stl_binary"].set_transform(
tf.translation_matrix([0, -1.0, 0]))
# DAE
filename = os.path.join(meshcat.viewer_assets_path(),
"../tests/data/mesh_0_convex_piece_0.dae")
with open(filename, "r") as f:
fio = StringIO(f.read())
v["stream_dae"].set_object(
g.Mesh(g.DaeMeshGeometry.from_stream(fio)))
v["stream_dae"].set_transform(tf.translation_matrix([0, -1.5, 0]))
def viewer_draw_mesh(viewer, mesh, color=None, id=None):
if color == None:
color = 0x777777
if id == None:
id = str(uuid.uuid1())
geo = mesh2mcg(mesh)
mat = mcg.MeshLambertMaterial(color=color)
viewer[id].set_object(mcg.Mesh(geo, mat))
def draw_bond(v, label, p1, d, radius, color=0xffffff):
H = np.linalg.norm(d)
R = np.linalg.norm(d[:2])
e = d / H
x = np.array([0, 1, 0])
rot = -acos(e @ x)
if -1 < e @ x < 1:
axis = np.cross(e, x)
v[label].set_object(
g.Mesh(g.Cylinder(H, radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(
tf.translation_matrix(p1).dot(
tf.rotation_matrix(rot, axis).dot(
tf.translation_matrix([0, H / 2, 0]))))
else:
v[label].set_object(
g.Mesh(g.Cylinder(H, radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(tf.translation_matrix(p1 + d / 2))
def runTest(self):
self.vis.delete()
v = self.vis["shapes"]
v.set_transform(tf.translation_matrix([1., 0, 0]))
v["box"].set_object(g.Box([1.0, 0.2, 0.3]))
v["box"].delete()
v["box"].set_object(g.Box([0.1, 0.2, 0.3]))
v["box"].set_transform(tf.translation_matrix([0.05, 0.1, 0.15]))
v["cylinder"].set_object(g.Cylinder(0.2, 0.1), g.MeshLambertMaterial(color=0x22dd22))
v["cylinder"].set_transform(tf.translation_matrix([0, 0.5, 0.1]).dot(tf.rotation_matrix(-np.pi / 2, [1, 0, 0])))
v["sphere"].set_object(g.Mesh(g.Sphere(0.15), g.MeshLambertMaterial(color=0xff11dd)))
v["sphere"].set_transform(tf.translation_matrix([0, 1, 0.15]))
v["ellipsoid"].set_object(g.Ellipsoid([0.3, 0.1, 0.1]))
v["ellipsoid"].set_transform(tf.translation_matrix([0, 1.5, 0.1]))
v["transparent_ellipsoid"].set_object(g.Mesh(
g.Ellipsoid([0.3, 0.1, 0.1]),
g.MeshLambertMaterial(color=0xffffff,
opacity=0.5)))
v["transparent_ellipsoid"].set_transform(tf.translation_matrix([0, 2.0, 0.1]))
v = self.vis["meshes/valkyrie/head"]
v.set_object(g.Mesh(
g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "data/head_multisense.obj")),
g.MeshLambertMaterial(
map=g.ImageTexture(
image=g.PngImage.from_file(os.path.join(meshcat.viewer_assets_path(), "data/HeadTextureMultisense.png"))
)
)
))
v.set_transform(tf.translation_matrix([0, 0.5, 0.5]))
v = self.vis["meshes/convex"]
v["obj"].set_object(g.Mesh(g.ObjMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.obj"))))
v["stl_ascii"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_ascii"))))
v["stl_ascii"].set_transform(tf.translation_matrix([0, -0.5, 0]))
v["stl_binary"].set_object(g.Mesh(g.StlMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.stl_binary"))))
v["stl_binary"].set_transform(tf.translation_matrix([0, -1, 0]))
v["dae"].set_object(g.Mesh(g.DaeMeshGeometry.from_file(os.path.join(meshcat.viewer_assets_path(), "../tests/data/mesh_0_convex_piece_0.dae"))))
v["dae"].set_transform(tf.translation_matrix([0, -1.5, 0]))
v = self.vis["points"]
v.set_transform(tf.translation_matrix([0, 2, 0]))
verts = np.random.rand(3, 1000000)
colors = verts
v["random"].set_object(g.PointCloud(verts, colors))
v["random"].set_transform(tf.translation_matrix([-0.5, -0.5, 0]))
v = self.vis["lines"]
v.set_transform(tf.translation_matrix(([-2, -3, 0])))
vertices = np.random.random((3, 10)).astype(np.float32)
v["line_segments"].set_object(g.LineSegments(g.PointsGeometry(vertices)))
v["line"].set_object(g.Line(g.PointsGeometry(vertices)))
v["line"].set_transform(tf.translation_matrix([0, 1, 0]))
v["line_loop"].set_object(g.LineLoop(g.PointsGeometry(vertices)))
v["line_loop"].set_transform(tf.translation_matrix([0, 2, 0]))
v["line_loop_with_material"].set_object(g.LineLoop(g.PointsGeometry(vertices), g.LineBasicMaterial(color=0xff0000)))
v["line_loop_with_material"].set_transform(tf.translation_matrix([0, 3, 0]))
colors = vertices # Color each line by treating its xyz coordinates as RGB colors
v["line_with_vertex_colors"].set_object(g.Line(g.PointsGeometry(vertices, colors), g.LineBasicMaterial(vertexColors=True)))
v["line_with_vertex_colors"].set_transform(tf.translation_matrix([0, 4, 0]))
v["triad"].set_object(g.LineSegments(
g.PointsGeometry(position=np.array([
[0, 0, 0], [1, 0, 0],
[0, 0, 0], [0, 1, 0],
[0, 0, 0], [0, 0, 1]]).astype(np.float32).T,
color=np.array([
[1, 0, 0], [1, 0.6, 0],
[0, 1, 0], [0.6, 1, 0],
[0, 0, 1], [0, 0.6, 1]]).astype(np.float32).T
),
g.LineBasicMaterial(vertexColors=True)))
v["triad"].set_transform(tf.translation_matrix(([0, 5, 0])))
v["triad_function"].set_object(g.triad(0.5))
v["triad_function"].set_transform(tf.translation_matrix([0, 6, 0]))
def draw_atom(v, label, atom, radius, color=0xffffff):
v[label].set_object(
g.Mesh(g.Sphere(radius), g.MeshLambertMaterial(color=color)))
v[label].set_transform(tf.translation_matrix(atom))