Scene Objects

Objects in a scene are represented by a triangluar mesh (a Trimesh from the trimesh package), a 3D pose relative to the world (a RigidTransform from autolab_core), and a set of material properties (MaterialProperties).

SceneObject

class meshrender.SceneObject(mesh, T_obj_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=obj, to_frame=world), material=<meshrender.material.MaterialProperties object>, enabled=True)

Bases: object

A complete description of an object in a Scene.

This includes its geometry (represented as a Trimesh), its pose in the world, and its material properties.

__init__(mesh, T_obj_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=obj, to_frame=world), material=<meshrender.material.MaterialProperties object>, enabled=True)

Initialize a scene object with the given mesh, pose, and material.

Parameters:

• mesh (trimesh.Trimesh) – A mesh representing the object’s geometry.
• T_obj_world (autolab_core.RigidTransform) – A rigid transformation from the object’s frame to the world frame.
• material (MaterialProperties) – A set of material properties for the object.
• enabled (bool) – If False, the object will not be rendered.

enabled

bool – If False, the object will not be rendered.

mesh

trimesh.Trimesh – A mesh representing the object’s geometry.

material

MaterialProperties – A set of material properties for the object.

T_obj_world

autolab_core.RigidTransform – A rigid transformation from the object’s frame to the world frame.

InstancedSceneObject

class meshrender.InstancedSceneObject(mesh, poses, T_obj_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=obj, to_frame=world), material=<meshrender.material.MaterialProperties object>, enabled=True)

Bases: meshrender.scene_object.SceneObject

A scene object which consists as a set of identical objects.

__init__(mesh, poses, T_obj_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=obj, to_frame=world), material=<meshrender.material.MaterialProperties object>, enabled=True)

Initialize a scene object with the given mesh, pose, and material.

Parameters:

• mesh (trimesh.Trimesh) – A mesh representing the object’s geometry.
• poses (list of autolab_core.RigidTransform) – A set of poses, one for each instance of the scene object, relative to the full object’s origin.
• T_obj_world (autolab_core.RigidTransform) – A rigid transformation from the object’s frame to the world frame.
• material (MaterialProperties) – A set of material properties for the object.
• enabled (bool) – If False, the object will not be rendered.

poses

list of autolab_core.RigidTransform – A set of poses for each instance relative to the object’s origin.