CODEWITHSUNDEEP
drake
kamiradi
kamiradi

Reputation: 25

Is there a way to visualise Contact Forces in 2D in drake?

The inbuilt ConnectPlanarSceneGraphVisualizer is a handy tool when running simple experiments on 2D setups. I have found it very useful. I was wondering if there was a 2D version of this helper function to visualise contact forces as well. Is there any way of projecting the contact forces onto the visualizer window used by the PlanarSceneGraphVisualizer. Furthermore, more generally if I want to integrate drake's setup with the handy pyplot functionality, how can I visualise the contact forces in 2D?

Thank you for your instruction and help.

Upvotes: 0

Views: 59

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

Unfortunately, that's still an open feature request. The reason it hasn't been resolved is because I've been moving everything to meshcat, and putting meshcat into "2d render mode". You can see contact forces there (and also get other meshcat benefits).

Upvotes: 1

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