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Gepetto / example-robot-data

Set of robot URDFs for benchmarking and developed examples.
BSD 3-Clause "New" or "Revised" License
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Anymal display is missing parts on MeshCat #212

Closed wly2014 closed 5 months ago

wly2014 commented 5 months ago

May be like this issue, the Anymal display also miss some parts on MeshCat.

import example_robot_data
import time

# Loading the anymal model
anymal = example_robot_data.load("anymal",display=False)

# display in MeshCat
from pinocchio.visualize import MeshcatVisualizer
robot = anymal
q_max = robot.model.upperPositionLimit.T
q_min = robot.model.lowerPositionLimit.T
q0 = (q_min+q_max)/2

viz = MeshcatVisualizer(robot.model, robot.collision_model, robot.visual_model)
# Start a new MeshCat server and client.
viz.initViewer(open=True)
# Load the robot in the viewer.
viz.loadViewerModel()
viz.display(q0)

time.sleep(10.0)

displays: anymal

cmastalli commented 5 months ago

This is related to issues in Meshcat when supporting Collada files. Some related efforts can be seen in https://github.com/meshcat-dev/meshcat/pull/139 and https://github.com/meshcat-dev/meshcat/pull/170.

I will close this issue as we're not planning to handle this now.