mesh is always rendered in color white
proyan opened this issue · comments
Hi guys,
It seems I have another bug.
No matter what color I provide to a mesh, the mesh is always displayed as completely white.
I don't have any color issue in pybullet, and pybullet loads the color that is specified in the material tag of urdf.
However when loading in gepetto-gui, the color doesn't seem to change.
I checked the pinocchio parser, and it is providing the good color information to gepetto-viewer. I also tried changing the color directly using the gui interface in gepetto-gui, and there is no effect.
Could you please help me figure out the issue?
Hi @proyan,
Did you solve this? I think I am facing the same issue (not with all robots)
For example the legs of A1 are rendered as shown below:
Do you have a large scale in the URDF ?
The used urdf for A1 robot is the default in example-robot-data repo, can be found here. The scale of all meshes is 1.
The Collada files have light sources. You have to remove them.
for go in robot.visual_model.geometryObjects:
name = robot.viz.getViewerNodeName(go, pinocchio.VISUAL)
if "RemoveLightSources" not in gui.getPropertyNames(name):
continue
gui.removeLightSources(name)Where am I supposed to use the above code? I have gepetto-viewer binaries installed so no contact with the source code. Can I add this on RobotLoader class?
What is the gui variable in the above code? How do you import it?
gui = robot.viewer.gui
robot is a RobotWrapper returned by example_robot_data.load.
So I modified the RobotLoader class as follows:
class RobotLoader(object):
path = ''
urdf_filename = ''
srdf_filename = ''
sdf_filename = ''
urdf_subpath = 'robots'
srdf_subpath = 'srdf'
sdf_subpath = ''
ref_posture = 'half_sitting'
has_rotor_parameters = False
free_flyer = False
verbose = False
def __init__(self):
if self.urdf_filename:
if self.sdf_filename:
raise AttributeError("Please choose between URDF *or* SDF")
df_path = join(self.path, self.urdf_subpath, self.urdf_filename)
builder = RobotWrapper.BuildFromURDF
else:
df_path = join(self.path, self.sdf_subpath, self.sdf_filename)
try:
builder = RobotWrapper.BuildFromSDF
except AttributeError:
raise ImportError("Building SDF models require pinocchio >= 3.0.0")
self.model_path = getModelPath(df_path, self.verbose)
self.df_path = join(self.model_path, df_path)
self.robot = builder(self.df_path, [join(self.model_path, '../..')],
pin.JointModelFreeFlyer() if self.free_flyer else None)
# remove lights from collada files
for go in self.robot.visual_model.geometryObjects:
name = self.robot.viz.getViewerNodeName(go, pin.VISUAL)
if "RemoveLightSources" not in self.robot.viewer.gui.getPropertyNames(name):
continue
self.robot.viewer.gui.removeLightSources(name)
if self.srdf_filename:
self.srdf_path = join(self.model_path, self.path, self.srdf_subpath, self.srdf_filename)
self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose,
self.has_rotor_parameters, self.ref_posture)
if pin.WITH_HPP_FCL and pin.WITH_HPP_FCL_BINDINGS:
# Add all collision pairs
self.robot.collision_model.addAllCollisionPairs()
# Remove collision pairs per SRDF
pin.removeCollisionPairs(self.robot.model, self.robot.collision_model, self.srdf_path, False)
# Recreate collision data since the collision pairs changed
self.robot.collision_data = self.robot.collision_model.createData()
else:
self.srdf_path = None
self.robot.q0 = pin.neutral(self.robot.model)
if self.free_flyer:
self.addFreeFlyerJointLimits()
def addFreeFlyerJointLimits(self):
ub = self.robot.model.upperPositionLimit
ub[:7] = 1
self.robot.model.upperPositionLimit = ub
lb = self.robot.model.lowerPositionLimit
lb[:7] = -1
self.robot.model.lowerPositionLimit = lb
@property
def q0(self):
warnings.warn("`q0` is deprecated. Please use `robot.q0`", FutureWarning, 2)
return self.robot.q0
Then I built and installed example-robot-data but I am getting the same visualization of A1 robot.
I don't see where the viewer is initialized in your code.
Hi,
This works for me, with binaries of gepetto-viewer & example-robot-data
import pinocchio
from example_robot_data import load
robot = load('a1', display=True)
gui = robot.viewer.gui
for go in robot.visual_model.geometryObjects:
name = robot.viz.getViewerNodeName(go, pinocchio.VISUAL)
if "RemoveLightSources" not in gui.getPropertyNames(name):
continue
gui.removeLightSources(name)@IoannisDadiotis : do you have any issue with that code ?
@nim65s I am still getting the same visualization (with gepetto-viewer binaries and source of example-robot-data).
Sorry, my mistake. It works for A1. I will now test if the issue still exists with our centauro robot which was the initial reason I came to this issue and report back
Centauro description has been added here.
Meshes are .stl files, not .dae. Can .stl files also include light sources? In any case I tried, similar to the above, to run:
import pinocchio
from example_robot_data import load
robot = load('centauro', display=True)
gui = robot.viewer.gui
for go in robot.visual_model.geometryObjects:
name = robot.viz.getViewerNodeName(go, pinocchio.VISUAL)
if "RemoveLightSources" not in gui.getPropertyNames(name):
continue
gui.removeLightSources(name)
I am getting the following:
This time, the issue may be the large scale. In the loop above, add something like
if "ApplyScale" in gui.getPropertyNames(name):
gui.callVoidProperty(name, "ApplyScale")We are getting close.
import pinocchio
from example_robot_data import load
robot = load('centauro', display=True)
gui = robot.viewer.gui
for go in robot.visual_model.geometryObjects:
name = robot.viz.getViewerNodeName(go, pinocchio.VISUAL)
if "RemoveLightSources" not in gui.getPropertyNames(name):
continue
gui.removeLightSources(name)
if "ApplyScale" in gui.getPropertyNames(name):
gui.callVoidProperty(name, "ApplyScale")
Your loop isn't correct. You should call ApplyScale even if RemoveLightSource is not available.
That being said, I'm not 100% sure this is your problem.
Indeed that's not the problem.
I don't know if this can help but I report some observations.
-
When setting off (manually from gui) the lighting mode to OFF for the hip link I get the colour but not the link texture as shown below:
-
In the urdf I tried
<material name="red">
<color rgba="1.0 0.0 0.0 1"/>
</material>
instead of
<material name="red">
<color rgba="0.8 0.1 0.1 1"/>
</material>
and I am getting the colour (but again no texture for legs and arms)
