Visualization

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

Command-line visualization

The following utils is provided to visualize a robot:

python -m placo_utils.view path_to_robot/robot.urdf

You can provide the following arguments:

• --frames [frame1 [frame2 [...]]]: List of frames to visualize

• --animate to animate the robot (a sinusoïdal motion is applied to the joints)

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