Visualization

PlaCo comes with some basics visualization tools based on meshcat. Those helpers are written in Python and available in the placo_utils package.

Robot visualization

You can use robot_viz to visualize a robot, and robot_frame_viz to visualize a frame attached to the robot.

Example

Example code: visualization/robot.py

Custom frame

You can use frame_viz to visualize any frame in the world frame, by passing T_world_frame as argument.

Example

Example code: visualization/frame.py

Points

You can use point_viz to visualize a single point, or points_viz to visualize a list of points.

Example

Example code: visualization/point.py

Lines

You can use line_viz to visualize lines.

Example

Example code: visualization/lines.py

Arrow

You can use arrow_viz to visualize an arrow.

Example

Example code: visualization/arrow.py