diff --git a/examples/HeadTextureMultisense.jpg b/examples/HeadTextureMultisense.jpg new file mode 100644 index 0000000..e613993 Binary files /dev/null and b/examples/HeadTextureMultisense.jpg differ diff --git a/examples/HeadTextureMultisenseBlue.png b/examples/HeadTextureMultisenseBlue.png new file mode 100644 index 0000000..5d60b4a Binary files /dev/null and b/examples/HeadTextureMultisenseBlue.png differ diff --git a/examples/HeadTextureMultisenseRed.png b/examples/HeadTextureMultisenseRed.png new file mode 100644 index 0000000..1953a9b Binary files /dev/null and b/examples/HeadTextureMultisenseRed.png differ diff --git a/examples/color_texture_collada_example.ipynb b/examples/color_texture_collada_example.ipynb new file mode 100644 index 0000000..1366200 --- /dev/null +++ b/examples/color_texture_collada_example.ipynb @@ -0,0 +1,302 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "938dafc7", + "metadata": {}, + "outputs": [], + "source": [ + "import numpy as np\n", + "import os\n", + "import time\n", + "\n", + "import meshcat\n", + "import urllib\n", + "import yaml\n", + "import io" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "1d62c55e", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "You can open the visualizer by visiting the following URL:\n", + "http://127.0.0.1:7000/static/\n" + ] + } + ], + "source": [ + "# Create a new visualizer\n", + "vis = meshcat.Visualizer()\n", + "# we'll put it in a jupyter cell further down" + ] + }, + { + "cell_type": "markdown", + "id": "5e3add6b", + "metadata": {}, + "source": [ + "# WIP `_meshfile_object` Loaders\n", + "\n", + "This notebook is an example test of functionality added to address `meshcat-python` [Issue #92](https://github.com/rdeits/meshcat-python/issues/92) and likely makes some progress on [Issue #27](https://github.com/rdeits/meshcat-python/issues/27)" + ] + }, + { + "cell_type": "markdown", + "id": "63ef1047", + "metadata": {}, + "source": [ + "# Visualize UR3e Robot In Color" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "dbde04f3", + "metadata": {}, + "outputs": [], + "source": [ + "ur_meshdir_template = 'https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/{0}'" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "8aac9985", + "metadata": {}, + "outputs": [], + "source": [ + "# -- calculated offline with Pinocchio -- \n", + "link_poses_yaml_str = '''base.dae:\n", + "- [1.0, 2.4492935982947064e-16, 0.0, 0.0]\n", + "- [-2.4492935982947064e-16, 1.0, 0.0, 0.0]\n", + "- [0.0, 0.0, 1.0, 0.0]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "shoulder.dae:\n", + "- [1.0, 2.4492935982947064e-16, 0.0, 0.0]\n", + "- [-2.4492935982947064e-16, 1.0, 0.0, 0.0]\n", + "- [0.0, 0.0, 1.0, 0.15185]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "upperarm.dae:\n", + "- [-2.5117933221343742e-26, 1.2246467991473532e-16, 1.0, 1.4695761589768237e-17]\n", + "- [-2.0510348974767112e-10, 1.0, -1.2246467991473532e-16, 0.12]\n", + "- [-1.0, -2.0510348974767112e-10, 0.0, 0.1518499999753876]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "forearm.dae:\n", + "- [-2.5117933221343742e-26, 1.2246467991473532e-16, 1.0, 0.24355]\n", + "- [-2.0510348974767112e-10, 1.0, -1.2246467991473532e-16, 0.02699999999999997]\n", + "- [-1.0, -2.0510348974767112e-10, 0.0, 0.15184999999446222]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist1.dae:\n", + "- [-1.0, 1.2246467991473535e-16, -2.5117960413965218e-26, 0.45675]\n", + "- [1.2246467991473532e-16, 1.0000000000000002, -2.051037117922761e-10, 0.02704999999999995]\n", + "- [0.0, -2.051037117922761e-10, -1.0000000000000002, 0.15184999999445198]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist2.dae:\n", + "- [-1.0, 1.2246467991473532e-16, -5.0235866442687483e-26, 0.45675]\n", + "- [1.2246467991473532e-16, 1.0, -4.1020697949534224e-10, 0.13104999999999994]\n", + "- [0.0, -4.1020697949534224e-10, -1.0, 0.1518499999731212]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist3.dae:\n", + "- [-1.0, 2.511789568559801e-26, -1.2246467996497122e-16, 0.45675]\n", + "- [5.0235866442687483e-26, 1.0000000000000002, -2.051037117922761e-10, 0.13104999996498878]\n", + "- [1.224646799649712e-16, -2.051037117922761e-10, -1.0000000000000002, 0.0664999999731212]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "'''" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "20e5be4d", + "metadata": {}, + "outputs": [], + "source": [ + "link_pose_transforms = {k:np.asarray(v) for k, v in yaml.safe_load(link_poses_yaml_str).items()}" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "id": "0c90cc86", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/base.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/shoulder.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/upperarm.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/forearm.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist1.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist2.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist3.dae\n" + ] + } + ], + "source": [ + "vis.delete()\n", + "link_meshes = []\n", + "for link_name, link_transform in link_pose_transforms.items():\n", + " dae_url = ur_meshdir_template.format(link_name)\n", + " print(dae_url)\n", + " response = urllib.request.urlopen(dae_url)\n", + " dae_contents_str = response.read().decode('utf-8')\n", + " link = meshcat.geometry.DaeMeshFileObject(dae_contents_str) #won't work with textured image .from_file() loads\n", + " linkpath = '/meshcat/ur3/{0}'.format(link_name)\n", + " vis[linkpath].set_object(link)\n", + " vis[linkpath].set_transform(link_transform)\n", + " " + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "e5f1deb4", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "
\n", + " \n", + "
\n", + " " + ], + "text/plain": [ + "" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "vis.jupyter_cell(height=600)" + ] + }, + { + "cell_type": "markdown", + "id": "6ac5f370", + "metadata": {}, + "source": [ + "# Collada Head - New Blue png Texture" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "a849e7c9", + "metadata": {}, + "outputs": [], + "source": [ + "head_file = 'head_multisense_png.dae'\n", + "head = meshcat.geometry.DaeMeshFileObject.from_file(head_file)\n", + "vis['robots/png_blue/head'].set_object(head)\n", + "Th = np.array([[ 0. , 0. , -1. , 0.45675],\n", + " [ 1. , 0. , 0. , 0.28105],\n", + " [ 0. , -1. , 0. , 0.0665 ],\n", + " [ 0. , 0. , 0. , 1. ]])\n", + "\n", + "vis['robots/png_blue/head'].set_transform(Th)" + ] + }, + { + "cell_type": "markdown", + "id": "3c49d6a1", + "metadata": {}, + "source": [ + "# Collada Head - New Green jpeg Texture" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "id": "55421840", + "metadata": {}, + "outputs": [], + "source": [ + "robots/jpg_green/head_file = 'head_multisense_jpg.dae'\n", + "robots/jpg_green/head = meshcat.geometry.DaeMeshFileObject.from_file(robots/jpg_green/head_file)\n", + "vis['robots/jpg_green/head'].set_object(robots/jpg_green/head)\n", + "Tjh = Th.copy()\n", + "Tjh[2, 3] += 0.3\n", + "vis['robots/jpg_green/head'].set_transform(Tjh)" + ] + }, + { + "cell_type": "markdown", + "id": "c08ac034", + "metadata": {}, + "source": [ + "# Collada Head - Original Example" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "id": "618d61dc", + "metadata": {}, + "outputs": [], + "source": [ + "vis['robots/valkyrie/head'].set_object(\n", + " meshcat.geometry.ObjMeshGeometry.from_file(\n", + " os.path.join(meshcat.viewer_assets_path(), 'data/head_multisense.obj')),\n", + " meshcat.geometry.MeshLambertMaterial(\n", + " map=meshcat.geometry.ImageTexture(\n", + " image=meshcat.geometry.PngImage.from_file(\n", + " os.path.join(meshcat.viewer_assets_path(), 'data/HeadTextureMultisense.png'))\n", + " )\n", + " )\n", + ")\n", + "Tvh = Tjh.copy()\n", + "Tvh[0, 3] -= 0.3\n", + "# should export the other Collada heads so this extra rotation isn't necessary\n", + "Rrel = np.array([[ 0., 0., 1.],\n", + " [ 0., 1., 0.],\n", + " [-1., 0., 0.]])\n", + "Tvh[0:3, 0:3] = Rrel@Tvh[0:3, 0:3]\n", + "vis['robots/valkyrie/head'].set_transform(Tvh)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "fead4b44", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.8" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/demo.ipynb b/examples/demo.ipynb index a3c6369..a747af5 100644 --- a/examples/demo.ipynb +++ b/examples/demo.ipynb @@ -9,7 +9,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -24,9 +24,18 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "You can open the visualizer by visiting the following URL:\n", + "http://127.0.0.1:7000/static/\n" + ] + } + ], "source": [ "# Create a new visualizer\n", "vis = meshcat.Visualizer()" @@ -41,9 +50,20 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + " at path: >" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "vis.open()" ] @@ -57,9 +77,20 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'http://127.0.0.1:7000/static/'" + ] + }, + "execution_count": 4, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "vis.url()" ] @@ -73,7 +104,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -89,7 +120,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -107,9 +138,27 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "
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"source": [ @@ -238,7 +287,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 14, "metadata": {}, "outputs": [], "source": [ @@ -254,7 +303,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 15, "metadata": {}, "outputs": [], "source": [ @@ -272,7 +321,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 16, "metadata": {}, "outputs": [], "source": [ @@ -284,7 +333,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 17, "metadata": {}, "outputs": [], "source": [ @@ -300,7 +349,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 21, "metadata": {}, "outputs": [], "source": [ @@ -325,7 +374,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 22, "metadata": {}, "outputs": [], "source": [ @@ -338,7 +387,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 20, "metadata": {}, "outputs": [], "source": [ @@ -394,7 +443,7 @@ ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -408,7 +457,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.5.2" + "version": "3.8.8" } }, "nbformat": 4, diff --git a/examples/head_multisense_jpg.blend b/examples/head_multisense_jpg.blend new file mode 100644 index 0000000..e257e54 Binary files /dev/null and b/examples/head_multisense_jpg.blend differ diff --git a/examples/head_multisense_jpg.dae b/examples/head_multisense_jpg.dae new file mode 100644 index 0000000..d5ab87c --- /dev/null +++ b/examples/head_multisense_jpg.dae @@ -0,0 +1,188 @@ + + + + + Blender User + Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44 + + 2022-03-18T20:46:08 + 2022-03-18T20:46:08 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 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793ac40..f64a05f 100644 --- a/src/meshcat/commands.py +++ b/src/meshcat/commands.py @@ -1,7 +1,6 @@ -from .geometry import Geometry, Object, Mesh, MeshPhongMaterial, OrthographicCamera, PerspectiveCamera, PointsMaterial, Points +from .geometry import Geometry, Object, Mesh, MeshPhongMaterial, OrthographicCamera, PerspectiveCamera, PointsMaterial, Points, MeshFileObject from .path import Path - class SetObject: __slots__ = ["object", "path"] def __init__(self, geometry_or_object, material=None, path=None): @@ -9,6 +8,10 @@ def __init__(self, geometry_or_object, material=None, path=None): if material is not None: raise(ValueError("Please supply either an Object OR a Geometry and a Material")) self.object = geometry_or_object + elif isinstance(geometry_or_object, MeshFileObject): + if material is not None: + raise(ValueError("MeshFileObject does not support setting a material, it is for reading materials/textures from files.")) + self.object = geometry_or_object elif isinstance(geometry_or_object, (OrthographicCamera, PerspectiveCamera)): self.object = geometry_or_object else: diff --git a/src/meshcat/geometry.py b/src/meshcat/geometry.py index 1dfc845..e8c64ab 100644 --- a/src/meshcat/geometry.py +++ b/src/meshcat/geometry.py @@ -3,6 +3,9 @@ from io import StringIO, BytesIO import umsgpack import numpy as np +import xml.etree.ElementTree as Et +import base64 +import os from . import transformations as tf @@ -17,7 +20,6 @@ def lower_in_object(self, object_data): object_data.setdefault(self.field, []).append(self.lower(object_data)) return self.uuid - class Geometry(ReferenceSceneElement): field = "geometries" @@ -250,7 +252,7 @@ def lower(self): u"matrix": list(self.geometry.intrinsic_transform().flatten()) } } - self.geometry.lower_in_object(data) + self.geometry.lower_in_object(data) #this puts the actual data into geometries list, hmm self.material.lower_in_object(data) return data @@ -380,6 +382,43 @@ def data_from_stream(stream): return data +#we can't make a MeshFileObject that inherits from Object because we need data and resources and no need for material, geom uuids +class MeshFileObject(SceneElement): + """ + Proposed class to introduce _meshfile_object that loads colors, textures, etc. from file + + I don't like the naming here because it sounds like it should inherit from Object but + it's more sitting next to Object at the same level. + + It only gets a UUID from SceneElement, doesn't have a lower_in_object() method but + doesn't seem to need it (since data, resources are actually the contents not a UUID reference) + """ + def __init__(self, contents, mesh_format, image_resources={}): + super(MeshFileObject, self).__init__() + self.contents = contents + self.mesh_format = mesh_format + self.image_resources = image_resources + + def lower(self): + data = { + u"metadata": { + u"version": 4.5, + u"type": u"Object", + }, + u"geometries": [], + u"materials": [], + u"object": { + u"uuid": self.uuid, + u"type": u"_meshfile_object", + u"format": self.mesh_format, + u"data": self.contents, + u"resources": self.image_resources + #u'matrix': TODO + } + } + # don't need lower_in_object() I don't think + return data + class MeshGeometry(Geometry): def __init__(self, contents, mesh_format): super(MeshGeometry, self).__init__() @@ -408,6 +447,48 @@ def from_file(fname): def from_stream(f): return MeshGeometry(data_from_stream(f), u"obj") +class DaeMeshFileObject(MeshFileObject): + def __init__(self, contents): + super(DaeMeshFileObject, self).__init__(contents, u"dae", {}) #these super calls are not typically used (we don't instance these things) and seem to be broken on other types + + @staticmethod + def from_file(fname, verbose=False): + """ + Currently limited to loading image textures from jpeg or png files, uses file extension + """ + with open(fname, "r") as f: + dae_contents = f.read() + # --- we need to parse the DAE to build resources--- + dae_tree = Et.parse(fname) + + img_resources = {} + # --- this is against a Blender collada file, maybe need a more elegant way of parsing and handling XML namespaces --- + img_lib_element = dae_tree.find('{http://www.collada.org/2005/11/COLLADASchema}library_images') + + if img_lib_element: + img_resource_names = [e.text for e in img_lib_element.iter() if e.tag.count('init_from')] + if verbose: + print("Found image resource names:", img_resource_names) + else: + img_resource_names = [] + + img_dir = os.path.dirname(os.path.abspath(fname)) + if verbose: + print("Seeking images in", img_dir) + for img_name in img_resource_names: + img_path = os.path.join(img_dir, img_name) + if not os.path.isfile(img_path): + raise UserWarning("DaeMeshFileObject.from_file() could not find image {} in Collada file library_images. Make sure they all exist in the same directory as the DAE file".format(img_name) ) + with open(img_path, "rb") as imf: + imdata = base64.b64encode(imf.read()) + imstr = imdata.decode('utf-8') + if img_name.split('.')[-1] in ['jpeg', 'jpg']: + imuri = "data:image/jpeg;base64,{}".format(imstr) #is it as simple here as switching png/bmp/jpg etc on the file extension? + elif img_name.endswith('.png'): + imuri = "data:image/png;base64,{}".format(imstr) + img_resources[img_name] = imuri + + return MeshFileObject(dae_contents, u"dae", img_resources) class DaeMeshGeometry(MeshGeometry): def __init__(self, contents): diff --git a/src/meshcat/viewer b/src/meshcat/viewer index 978cb8f..675a312 160000 --- a/src/meshcat/viewer +++ b/src/meshcat/viewer @@ -1 +1 @@ -Subproject commit 978cb8f519f9bb540e94b7f97a39ada4d7916b7c +Subproject commit 675a312a2e91921d786fe83c49b492f02c1fc6c3