visualize.py

# Import some basic libraries and functions for this tutorial.
import numpy as np
import os

from pydrake.common import temp_directory
from pydrake.geometry import SceneGraphConfig, StartMeshcat
from pydrake.math import RigidTransform, RollPitchYaw
from pydrake.multibody.parsing import Parser
from pydrake.multibody.plant import AddMultibodyPlantSceneGraph
from pydrake.systems.analysis import Simulator
from pydrake.systems.framework import DiagramBuilder
from pydrake.visualization import AddDefaultVisualization, ModelVisualizer

# Start the visualizer. Running `python visualize.py` prints an HTTP link;
# open it and a MeshCat tab appears in your browser showing the robot model.
meshcat = StartMeshcat()

# Resolve paths relative to this file so it runs from any working directory.
_HERE = os.path.dirname(os.path.abspath(__file__))
model_file = os.path.join(_HERE, "models", "mini_cheetah.urdf")

# Create a model visualizer and add the robot arm.
visualizer = ModelVisualizer(meshcat=meshcat)
visualizer.parser().AddModels(model_file)

# Start the interactive visualizer.
# Click the "Stop Running" button in MeshCat when you're finished.
visualizer.Run(loop_once=False)