Meshcat utils

WARNING Do not use this package anymore; you should upgrade your version of Pinocchio instead.

Utils to use Meshcat with Pinocchio.

Dependencies

• Our branch of meshcat-python
• tqdm | GitHub
• imageio with the ffmpeg plugin | GitHub, RTD
• Pinocchio

Install

From source, with --no-deps to avoid modifying your python env:

pip install . --no-deps

Features

• set background color
• set camera target and position
• camera angle/target presets
• display state trajectory (position-velocity)
• record images and videos
• draw end-effector 3D trajectories & velocities
• wrappers to easily draw cylinders, bboxes
• draw objectives as spheres
• draw point clouds
• draw contact forces

Copyright (c) 2022 LAAS-CNRS, INRIA