Meshcat无法导入DrakePlanarForceControlDemo中CrackerBox的PNG图片。

可以尝试将Cracker Box的PNG图片转换为Base64编码，并将其作为字符串嵌入到代码中，以避免由于图片无法正确导入而出现错误。以下是使用Python编写的示例代码:

import os
import base64
from pydrake.common import FindResourceOrThrow
from pydrake.examples.manipulation_station import (PlanarForceControlDemo,
                                                    AddRgbdSensors)

cracker_box_png = FindResourceOrThrow(
    "drake/examples/manipulation_station/models/061_foam_brick/061_foam_brick_diffuse.png")
with open(cracker_box_png, 'rb') as f:
    cracker_box_png_str = base64.b64encode(f.read()).decode("utf-8")

# Make sure to replace meshcat_visualizer() with MeshcatVisualizerCpp()
builder = PlanarForceControlDemo() #.AddRgbdSensors(SensorSuite.robot_sensors())
builder.ConnectMeshcatVisualizer(open_browser=False)
manip = builder.get_system()

# This line should be added
cracker_box_visual = builder.AddModelFromFile(
    "drake/manipulation/models/061_foam_brick.sdf",
    model_name="cracker_box_visual")
meshcat_visual_properties = cracker_box_visual.GetVisualizerProperties(cracker_box_visual.default_visual_name())
meshcat_visual_properties.set_color(np.array([0.7, 0.4, 0.4, 1.0]))
meshcat_visual_properties.set_opacity(0.9)
# This line should be replaced
meshcat_visual_properties.set_texture(cracker_box_png_str)

diagram = builder.Build()
plant = manip.get_mutable_multibody_plant()
AddRgbdSensors(manip, plant)
context = diagram.CreateDefaultContext()
simulator = builder.get_drake_simulator()
simulator.Initialize()
simulator.AdvanceTo(0.1)

上述代码中，我们将Cracker Box PNG图片读入，并使用Base64编码将其嵌入到代码中。我们还替换了原本使用set_texture_file()方法导入