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Fix numpy type bug #42

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Fix numpy type bug #42

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f7742be
fix vis and type bugs
Woz4tetra Sep 10, 2024
1dd8612
remove unnecessary change
Woz4tetra Sep 10, 2024
1934235
remove unnecessary change
Woz4tetra Sep 10, 2024
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21 changes: 13 additions & 8 deletions urdfpy/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -895,7 +895,7 @@ def color(self):
@color.setter
def color(self, value):
if value is not None:
value = np.asanyarray(value).astype(np.float)
value = np.asanyarray(value).astype(float)
value = np.clip(value, 0.0, 1.0)
if value.shape != (4,):
raise ValueError('Color must be a (4,) float')
Expand Down Expand Up @@ -3221,14 +3221,15 @@ def visual_trimesh_fk(self, cfg=None, links=None):
fk = OrderedDict()
for link in lfk:
for visual in link.visuals:
material = visual.material
for mesh in visual.geometry.meshes:
pose = lfk[link].dot(visual.origin)
if visual.geometry.mesh is not None:
if visual.geometry.mesh.scale is not None:
S = np.eye(4, dtype=np.float64)
S[:3,:3] = np.diag(visual.geometry.mesh.scale)
pose = pose.dot(S)
fk[mesh] = pose
fk[mesh] = pose, material
return fk

def visual_trimesh_fk_batch(self, cfgs=None, links=None):
Expand Down Expand Up @@ -3361,7 +3362,7 @@ def collision_trimesh_fk(self, cfg=None, links=None):
pose = lfk[link]
cm = link.collision_mesh
if cm is not None:
fk[cm] = pose
fk[cm] = pose, None
return fk

def collision_trimesh_fk_batch(self, cfgs=None, links=None):
Expand Down Expand Up @@ -3511,9 +3512,14 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False):

node_map = {}
scene = pyrender.Scene()
for tm in fk:
pose = fk[tm]
mesh = pyrender.Mesh.from_trimesh(tm, smooth=False)
for tm, (pose, material) in fk.items():
render_mat = pyrender.material.MetallicRoughnessMaterial(
alphaMode='BLEND',
baseColorFactor=material.color,
metallicFactor=1.0,
roughnessFactor=0.8,
)
mesh = pyrender.Mesh.from_trimesh(tm, smooth=False, material=render_mat)
node = scene.add(mesh, pose=pose)
node_map[tm] = node

Expand All @@ -3537,8 +3543,7 @@ def animate(self, cfg_trajectory=None, loop_time=3.0, use_collision=False):
fk = self.visual_trimesh_fk(cfg=cfg)

v.render_lock.acquire()
for mesh in fk:
pose = fk[mesh]
for mesh, (pose, material) in fk.items():
node_map[mesh].matrix = pose
v.render_lock.release()

Expand Down