Klampt Visual Meshes With Materials

[patricknaughton01]

Running into an issue visualizing meshes with materials in Klampt (Python 3.8.10, klampt version 0.9.1).

Example script:

from klampt import vis, WorldModel
import time

wm = WorldModel()
robot_model = wm.loadRobot("assets/industreal/urdf/industreal_franka_klampt_visual.urdf")
vis.add("world", wm)
vis.show()
while vis.shown():
    time.sleep(0.05)

Error message:

WorldModel::LoadRobot: assets/industreal/urdf/industreal_franka_klampt_visual.urdf
log4cxx: Could not open file [./log4cxx.xml].
KrisLibrary::logger(): URDFParser configured as default
URDFParser: Link size: 19 
URDFParser: Joint size: 14 
log4cxx: Could not open file [./log4cxx.xml].
KrisLibrary::logger(): Geometry configured as default
Geometry: Loading 12 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link0.obj into Group 
Geometry: Loading 4 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link3.obj into Group 
Geometry: Loading 4 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link4.obj into Group 
Geometry: Loading 3 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link5.obj into Group 
Geometry: Loading 17 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link6.obj into Group 
Geometry: Loading 8 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/link7.obj into Group 
Geometry: Loading 5 meshes from assets/industreal/urdf/../../urdf/franka_description/meshes/visual/hand.obj into Group 
URDFParser: Done loading robot file assets/industreal/urdf/industreal_franka_klampt_visual.urdf 
***  klampt.vis: using Qt5 as the visualization backend  ***
QtBackend: initializing app as Klamp't visualization
WARNING: QApplication was not created in the main() thread.
vis: creating GL window
######### QGLWidget setProgram ###############
#########################################
klampt.vis: Making window 0
#########################################
######### QGLWidget Initialize GL ###############
QGLWidget.paintGL: hit an exception?
Traceback (most recent call last):
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/klampt/vis/backends/qtbackend.py", line 276, in paintGL
    res = self.program.displayfunc()
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/klampt/vis/backends/vis_gl.py", line 37, in displayfunc
    glcommon.GLPluginProgram.displayfunc(self)
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/klampt/vis/glprogram.py", line 483, in displayfunc
    GLRealtimeProgram.displayfunc(self)
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/klampt/vis/glprogram.py", line 142, in displayfunc
    self.prepare_screen_GL()
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/klampt/vis/glprogram.py", line 178, in prepare_screen_GL
    GL.glMatrixMode(GL.GL_PROJECTION)
  File "/home/patrick/.venvs/uc_venv/lib/python3.8/site-packages/OpenGL/error.py", line 228, in glCheckError
    raise GLError(
OpenGL.error.GLError: GLError(
        err = 1281,
        description = b'invalid value',
        baseOperation = glMatrixMode,
        cArguments = (GL_PROJECTION,)
)

Assets directory: assets.zip

Version that works with urdfpy:

from urdfpy import URDF


robot = URDF.load("../assets/industreal/urdf/industreal_franka_visualization.urdf")
robot.show(cfg={
    "panda_joint1": -1.7574766278484677,
    "panda_joint2": 0.8403247702305783,
    "panda_joint3": 2.015877580177467,
    "panda_joint4": -2.0924931236718334,
    "panda_joint5": -0.7379389376686856,
    "panda_joint6": 1.6256438760537268,
    "panda_joint7": 1.2689337870766628,
    "panda_finger_joint1": 0.04,
    "panda_finger_joint2": 0.04
})

[patricknaughton01]

Updated assets directory: assets.zip

[krishauser]

Not sure what's happening. Here's what I get (I added the tag <klampt flip_yz="1" /> within the tags)