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import math
import time
import meshcat
vis = meshcat.Visualizer().open()
box = meshcat.geometry.Box([0.5, 0.5, 0.5])
vis.set_object(box)
draw_times = []
for i in range(200):
theta = (i + 1) / 100 * 2 * math.pi
now = time.time()
vis.set_transform(meshcat.transformations.rotation_matrix(theta, [0, 0, 1]))
draw_times.append(time.time() - now)
time.sleep(0.01)
print(sum(draw_times) / len(draw_times))
opacity: the opacity of the coordinate axes, between 0 and 1.
"""
delta_xyz = np.array([[length / 2, 0, 0],
[0, length / 2, 0],
[0, 0, length / 2]])
axes_name = ['x', 'y', 'z']
colors = [0xff0000, 0x00ff00, 0x0000ff]
rotation_axes = [[0, 0, 1], [0, 1, 0], [1, 0, 0]]
for i in range(3):
material = meshcat.geometry.MeshLambertMaterial(
color=colors[i], opacity=opacity)
vis[prefix][name][axes_name[i]].set_object(
meshcat.geometry.Cylinder(length, radius), material)
X = meshcat.transformations.rotation_matrix(
np.pi/2, rotation_axes[i])
X[0:3, 3] = delta_xyz[i]
vis[prefix][name][axes_name[i]].set_transform(X)
if geom.type == geom.BOX:
assert geom.num_float_data == 3
meshcat_geom = meshcat.geometry.Box(geom.float_data)
elif geom.type == geom.SPHERE:
assert geom.num_float_data == 1
meshcat_geom = meshcat.geometry.Sphere(geom.float_data[0])
elif geom.type == geom.CYLINDER:
assert geom.num_float_data == 2
meshcat_geom = meshcat.geometry.Cylinder(
geom.float_data[1],
geom.float_data[0])
# In Drake, cylinders are along +z
# In meshcat, cylinders are along +y
# Rotate to fix this misalignment
extra_rotation = tf.rotation_matrix(
math.pi/2., [1, 0, 0])
element_local_tf[0:3, 0:3] = (
element_local_tf[0:3, 0:3].dot(
extra_rotation[0:3, 0:3]))
elif geom.type == geom.MESH:
meshcat_geom = meshcat.geometry.ObjMeshGeometry.from_file(
geom.string_data[0:-3] + "obj")
# Handle scaling.
# TODO(gizatt): See meshcat-python#40 for incorporating scale as a
# field rather than a matrix multiplication.
scale = geom.float_data[:3]
element_local_tf[:3, :3] = element_local_tf[:3, :3].dot(np.diag(scale))
# Attempt to find a texture for the object by looking for an
# identically-named *.png next to the model.
# TODO(gizatt): Support .MTLs and prefer them over png, since they're
# both more expressive and more standard.