Michael Dawson-Haggerty 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.

	import numpy as np
	import rtree
	import time

	def random_tree_stream(points_count, include_object):
	properties = rtree.index.Property()
	properties.dimension = 3

	points_random = np.random.random((points_count,3,3))
	points_bounds = np.column_stack((points_random.min(axis=1),

	import pyglet
	import pyglet.gl as gl

	import numpy as np

	import os
	import tempfile
	import subprocess
	import collections

	import sys
	import numpy as np

	file_name = 'trimesh/version.py'

	if __name__ == '__main__':
	with open(file_name, 'r') as f:
	text = f.read()

	split = text.split("'")

	import trimesh
	import numpy as np

	from scipy.spatial import Voronoi

	if __name__ == '__main__':
	points = np.random.random((20,3))

	v = Voronoi(points)

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

	Fun with meshes of bricks.
	"""

	import trimesh
	import numpy as np

	import os
	import trimesh

	class FileSystemResolver(object):

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

	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

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

	Simple coloring shader example.

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

	"""