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drake

Drake - how to visualize frame in LCM

How do I visualize different coordinate frames in drake when using the LCM visualizer, such as the body frame attached to the end effector of the Kuka?

Solution

  • Here's some simple code for drawing frames in Drake Visualizer, w/ simple video:
    https://github.com/EricCousineau-TRI/repro/blob/ea2d7987/drake_stuff/drake_viz_draw_frames/README.md

    Does this help at all? If so, yeah, I can help to PR against Drake.

    Some notes / caveats:

    • This doesn't draw pydrake.geometry.FrameId as does meshcat; instead, it simply draws a frame (whatever you name it) using RigidTransform, w.r.t. world frame.
    • This is unlike things like /tf in ROS, where you can publish a frame w.r.t. another frame.