meshcat-viz-python

Generic visualizer of robot models based on MeshCat.

Installation

You can install the project with pypa/pip, preferably in a virtual environment:

pip install git+https://github.com/ami-iit/meshcat-viz-python

Example

Visualize a manipulator

import pathlib

import gym_ignition_models
import numpy as np

from meshcat_viz.world import MeshcatWorld

# Load a model resource
model_sdf_path = pathlib.Path(
    gym_ignition_models.get_model_resource(
        robot_name="panda", resource_type=gym_ignition_models.ResourceType.URDF_PATH
    )
)

# Open the visualizer
world = MeshcatWorld()
world.open()

# Insert the model from a URDF/SDF resource.
# Note: for URDF files support, check details in https://github.com/ami-iit/rod.
model_name = world.insert_model(model_description=model_sdf_path)

# Update the base position
world.update_model(model_name=model_name, base_position=np.array([1.0, 0, 0]))

# Update the joint positions
s = world._jaxsim_models[model_name].joint_random_positions()
world.update_model(model_name=model_name, joint_positions=s)

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Maintainers

	@diegoferigo

License