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shbang91 / rpc

A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.
MIT License
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Issue on DracoDataManager.py for meshcat visualization #1

Open shbang91 opened 1 year ago

shbang91 commented 1 year ago

To use the meshcat visualization tool for a real-time visualization/experiment replay, pinocchio library needs to be installed in a conda environment through conda-forge. This could prevent rebuilding the controller using CMake, due to the libboost_python${VERSION}.so discrepancy between the c++ and python versions of pinocchio library.

A hacky solution is first building a c++ library and then installing the python version of pinocchio in a conda environment.

If you need to rebuild the c++ library, then erase the current conda environment and recreate the environment.

shbang91 commented 1 year ago

One possible solution is to create another virtual environment for the python version of pinocchio. Then, if you want to visualize a robot using meshcat, just executing the DracoDataManager.py script would be enough.