Getting Started with Visualization

URDF File

graph.txt contains how the links and joints are deined, visit here and paste the following text to generate the graph

(Purely for visualization)

digraph G {  "base_link" -> "side_1_1" [ label = "side_1_joint" ] 
  "side_1_1" -> "finger1_0_1" [ label = "finger_1_1_joint" ] 
  "finger1_0_1" -> "finger1_1_1" [ label = "finger_1_2_joint" ] 
  "finger1_1_1" -> "finger1_2_1" [ label = "finger_1_3_joint" ] 
  "base_link" -> "side_2_1" [ label = "side_2_joint" ] 
  "side_2_1" -> "finger2_0_1" [ label = "finger_2_1_joint" ] 
  "finger2_0_1" -> "finger2_1_1" [ label = "finger_2_2_joint" ] 
  "finger2_1_1" -> "finger2_2_1" [ label = "finger_2_3_joint" ] 
  "base_link" -> "side_3_1" [ label = "side_3_joint" ] 
  "side_3_1" -> "finger3_0_1" [ label = "finger_3_1_joint" ] 
  "finger3_0_1" -> "finger3_1_1" [ label = "finger_3_2_joint" ] 
  "finger3_1_1" -> "finger3_2_1" [ label = "finger_3_3_joint" ] 
}

Using the URDF Files

Copy the hand_assembly.urdf and meshes folder to your project to import the urdf as usual using either MujuCo , URDF-VIZ or PyBullet

Viewing the URDF

URDF-VIZ

Windows

cd /path/to/project
urdf-viz.exe hand_assembly.urdf

Linux and MacOS

Download the Binary from here and extract the binary in the same project folder and then

cd /path/to/project
./urdf-viz hand_assembly.urdf

PyBullet

Recommended to use a Virtual Environment (conda, mamba, venv, uv, ... etc)

conda create -n pybullet_env python=3.9
conda activate pybullet_env
conda install -c conda-forge pybullet
python pybullet_sim.env

MujuCo (Broilerplate)

WiP