meshcat-viewer-dae

examples/CMakeLists.txt

@@ -41,6 +41,7 @@ IF(BUILD_PYTHON_INTERFACE)
     id-derivatives
     gepetto-viewer
     meshcat-viewer
+    meshcat-viewer-dae
     robot-wrapper-viewer
     geometry-models
     )

examples/meshcat-viewer-dae.py

+# This examples shows how to load and move a robot in meshcat.
+# Note: this feature requires Meshcat to be installed, this can be done using
+# pip install --user meshcat
+
+import pinocchio as pin
+pin.switchToNumpyMatrix()
+import numpy as np
+import sys
+import os
+from os.path import dirname, join, abspath
+
+from pinocchio.visualize import MeshcatVisualizer
+
+# Load the URDF model.
+# Conversion with str seems to be necessary when executing this file with ipython
+pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),"models")
+
+model_path = join(pinocchio_model_dir,"others/robots")
+mesh_dir = model_path
+urdf_filename = "romeo_small.urdf"
+urdf_model_path = join(join(model_path,"romeo_description/urdf"),urdf_filename)
+
+model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
+
+# Currently, MeshCat is not able to retrieve the scaling from DAE files. Set it manually.
+for geom in visual_model.geometryObjects:
+  s = geom.meshScale 
+  s *= 0.01
+  geom.meshScale = s
+
+viz = MeshcatVisualizer(model, collision_model, visual_model)
+
+# Start a new MeshCat server and client.
+# Note: the server can also be started separately using the "meshcat-server" command in a terminal:
+# this enables the server to remain active after the current script ends.
+#
+# Option open=True pens the visualizer.
+# Note: the visualizer can also be opened seperately by visiting the provided URL.
+try:
+    viz.initViewer(open=True)
+except ImportError as err:
+    print("Error while initializing the viewer. It seems you should install Python meshcat")
+    print(err)
+    sys.exit(0)
+
+# Load the robot in the viewer.
+# Color is needed here because the Romeo URDF doesn't contain any color, so the default color results in an
+# invisible robot (alpha value set to 0).
+viz.loadViewerModel(color = [0.0, 0.0, 0.0, 1.0])
+
+# Display a robot configuration.
+q0 = np.matrix([
+    0, 0, 0.840252, 0, 0, 0, 1,  # Free flyer
+    0, 0, -0.3490658, 0.6981317, -0.3490658, 0,  # left leg
+    0, 0, -0.3490658, 0.6981317, -0.3490658, 0,  # right leg
+    0,  # chest
+    1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2,  # left arm
+    0, 0, 0, 0,  # head
+    1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2,  # right arm
+]).T
+viz.display(q0)
+
+# Display another robot.
+red_robot_viz = MeshcatVisualizer(model, collision_model, visual_model)
+red_robot_viz.initViewer(viz.viewer)
+red_robot_viz.loadViewerModel(rootNodeName = "red_robot", color = [1.0, 0.0, 0.0, 0.5])
+q = q0.copy()
+q[1] = 1.0
+red_robot_viz.display(q)
+