The new visualizer is intended for debugging urdf's, and visualizing robot states. Currently, its use is fairly limited. This is some features that would be good to implement, and also a bug that needs fixing.
[x] [bug] Visualize links. Currently I believe there is a bug in the following method. When I try to visualize the robot links, the center of the link is correctly positioned, but the cylinders that make up the axes are all in the wrong place. Update: I will just use lines for the axes rather than cylinders. See 617e216f019b728e1c6ea809b3270e56f2a67bad.
[x] [feature] Visualize robot motion, i.e. a planned trajectory. Option: video-link motion, and also a static figure where older states decrease the opacity of the robot.
[x] [feature] Support loading several robots at once.
[x] [feature] Support visualization of task models/plans (e.g. a 3D trajectory represented by a sphere flying through space)
[x] [feature] Support visualization of other meshes (e.g. tables)
[x] [feature] The above may need a revamp of the RobotVisualizer class, and also the visualization.py example script will need to be updated
The new visualizer is intended for debugging urdf's, and visualizing robot states. Currently, its use is fairly limited. This is some features that would be good to implement, and also a bug that needs fixing.
https://github.com/cmower/optas/blob/ee6e02f6adbcb75c42785f303b0c93daeda35913/optas/visualize.py#L217-L252
and potentially texturesshould be supported.RobotVisualizer
class, and also thevisualization.py
example script will need to be updated