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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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MeshcatVisualizer doesn't obey IllustrationProperties ("phong", "diffuse_map") #19076

Open SeanCurtis-TRI opened 1 year ago

SeanCurtis-TRI commented 1 year ago

What happened?

When specifying a texture for an object via ("phong", "diffuse_map") the texture does not get applied to the model in Meshcat. It should.

Version

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What operating system are you using?

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What installation option are you using?

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Relevant log output

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SeanCurtis-TRI commented 1 year ago

Duplicated and elaborated by #19077.

jwnimmer-tri commented 1 year ago

This one was about Meshcat. (The actual 3js scene.)

That one was about Meldis. (We're failing to even transmit the data.)

SeanCurtis-TRI commented 1 year ago

A fair point. Both of these, ultimately, are transmission errors. In this case, the texture information simply doesn't get transmitted from Meshcat/MeshcatVisualizer. meldis is lacking input via LCM messages. MeshcatVisualizer has the data, but doesn't send it.

SeanCurtis-TRI commented 1 month ago

BTW When it works it looks like this:

MESHCAT: image

The corresponding RenderEngineVtk image

The basic scaffolding (but incomplete) can be found in this branch.

SeanCurtis-TRI commented 1 month ago

Note: These images exhibit the issue raised in #20495. The sphere and ellipsoid have been massaged so that they match. At first glance, the boxes may look the same, but they're not. There is no simple operation (like that used on the sphere/ellipsoid) that can be employed on the other shapes to achieve the same end.