Is it possible to add an object from stl file to MeshcatVisualizer?

[eirtech]

I want to load an object from stl file I have. I already tried to make a geometry object and also use the load_mesh function. But it failed. Would you please give me a hint how to do it?

[nim65s]

Hi,

Did you look into the examples directory ?
We have:

• https://github.com/stack-of-tasks/pinocchio/blob/master/examples/display-shapes-meshcat.py
• https://github.com/stack-of-tasks/pinocchio/blob/master/examples/meshcat-viewer.py
• https://github.com/stack-of-tasks/pinocchio/blob/master/examples/meshcat-viewer-dae.py

[eirtech]

Hi,

Thanks for your answer. Yes, I am able to add a URDF model, and also geometry object which is defined by hppfcl, but I can't load a .stl mesh directly to the scene. I tried to construct a geometry object from that .stl file I have, but it was not successful.

[nim65s]

Ok, then a quick workaround is to make a URDF with only your single STL.

I think we can provide an example to load directly an STL without going through URDF, but I personnaly won't have time to double check this today

[eirtech]

I wanted to say that I did used another way to do it. I just made a small URDF with that .stl mesh. and then load the URDF. I thought probably I could use something like meshcat.geometry.StlMeshGeometry to make and load an object directly, but at least I was not successful with that.

Thanks again for your response.