meshcat-viewer-octree.py

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# This examples shows how to load and move a robot in meshcat.
# Note: this feature requires Meshcat to be installed, this can be done using
# pip install --user meshcat
 
import pinocchio as pin
import numpy as np
import sys
import os
from os.path import dirname, join, abspath
 
from pinocchio.visualize import MeshcatVisualizer
import hppfcl as fcl
 
if tuple(map(int, fcl.__version__.split("."))) >= (3, 0, 0):
    with_octomap = fcl.WITH_OCTOMAP
else:
    with_octomap = False
if not with_octomap:
    print(
        "This example is skiped as HPP-FCL has not been compiled with octomap support."
    )
 
model = pin.Model()
collision_model = pin.GeometryModel()
 
octree = fcl.makeOctree(np.random.rand(1000, 3), 0.01)
octree_object = pin.GeometryObject("octree", 0, pin.SE3.Identity(), octree)
octree_object.meshColor[0] = 1.0
collision_model.addGeometryObject(octree_object)
 
visual_model = collision_model
viz = MeshcatVisualizer(model, collision_model, visual_model)
 
# Start a new MeshCat server and client.
# Note: the server can also be started separately using the "meshcat-server" command in a terminal:
# this enables the server to remain active after the current script ends.
#
# Option open=True pens the visualizer.
# Note: the visualizer can also be opened seperately by visiting the provided URL.
try:
    viz.initViewer(open=True)
except ImportError as err:
    print(
        "Error while initializing the viewer. It seems you should install Python meshcat"
    )
    print(err)
    sys.exit(0)
 
viz.loadViewerModel()
viz.clearDefaultLights()