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add isaac sim 2023 support and dockerfiles

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This commit is contained in:
Balakumar Sundaralingam
2023-11-04 09:32:30 -07:00
parent f2eb5f937a
commit 102c5d6ab2
41 changed files with 1284 additions and 622 deletions
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21
src/curobo/geom/types.py
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@@ -381,7 +381,6 @@ class Mesh(Obstacle):
m = trimesh.load(self.file_path, process=process, force="mesh")
if isinstance(m, trimesh.Scene):
m = m.dump(concatenate=True)
if isinstance(m.visual, trimesh.visual.texture.TextureVisuals):
m.visual = m.visual.to_color()
else:
@@ -397,6 +396,26 @@ class Mesh(Obstacle):
return m
def update_material(self):
if (
self.color is None
and self.vertex_colors is None
and self.face_colors is None
and self.file_path is not None
):
# try to load material:
m = trimesh.load(self.file_path, process=False, force="mesh")
if isinstance(m, trimesh.Scene):
m = m.dump(concatenate=True)
if isinstance(m.visual, trimesh.visual.texture.TextureVisuals):
m.visual = m.visual.to_color()
if isinstance(m.visual, trimesh.visual.color.ColorVisuals):
if isinstance(m.visual.vertex_colors[0], np.ndarray):
self.vertex_colors = m.visual.vertex_colors
self.face_colors = m.visual.face_colors
else:
self.vertex_colors = [m.visual.vertex_colors for x in range(len(m.vertices))]
def get_mesh_data(self, process: bool = True):
verts = faces = None
if self.file_path is not None: