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Visualization

Optional visualization tools for EmbodiK (requires embodik[visualization]).

EmbodikVisualizer

Interactive 3D visualization using Viser.

import embodik
import numpy as np

model = embodik.RobotModel.from_urdf("robot.urdf")
visualizer = embodik.EmbodikVisualizer(model)

# Update robot configuration
q = np.zeros(model.nq)
visualizer.update_configuration(q)

# Show target pose
target_pose = np.eye(4)
visualizer.show_target_pose(target_pose)

InteractiveVisualizer

Interactive visualization with GUI controls.

visualizer = embodik.InteractiveVisualizer(model)
visualizer.run()  # Opens interactive window

API Reference

EmbodikVisualizer

embodiK visualization using Viser directly (no Pinocchio visualization dependencies).

Source code in python/embodik/visualization.py 
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class EmbodikVisualizer:
    """embodiK visualization using Viser directly (no Pinocchio visualization dependencies)."""

    def __init__(self, robot_model: Any, port: int = 8080, open_browser: bool = True):
        """
        Initialize visualizer using Viser directly.

        Args:
            robot_model: embodiK RobotModel instance
            port: Port for Viser web server
            open_browser: Whether to automatically open browser
        """
        self.robot_model = robot_model
        self.server = ViserServer(port=port)

        # Load URDF for visualization
        self._load_urdf_visualization()

        # Custom visualization elements
        self._targets = {}
        self._com_marker = None
        self._support_polygon = None

        # Add GUI controls
        self._setup_gui()

        if open_browser:
            print(f"Viser server started at http://localhost:{port}")

    def _load_urdf_visualization(self):
        """Load URDF for visualization using yourdfpy."""
        # Get URDF path from robot model
        urdf_path = getattr(self.robot_model, "urdf_path", None)
        if not urdf_path:
            print("Warning: No URDF path available from robot model")
            self.urdf = None
            self.urdf_vis = None
            return

        # Store URDF path for use in filename handler
        self.urdf_path = urdf_path

        # Create filename handler for mesh resolution
        filename_handler = self._create_filename_handler()

        try:
            # Load URDF with yourdfpy
            self.urdf = yourdfpy.URDF.load(
                urdf_path,
                filename_handler=filename_handler,
                build_scene_graph=True,
                build_collision_scene_graph=False,
                load_meshes=True,
                load_collision_meshes=False,
            )

            # Create ViserUrdf for visualization
            self.urdf_vis = ViserUrdf(self.server, self.urdf, root_node_name="/robot")

            print(f"✓ URDF loaded successfully for visualization")
            print(f"  URDF joints: {self.urdf.joint_names}")

        except Exception as e:
            print(f"Warning: Could not load URDF for visualization: {e}")
            self.urdf = None
            self.urdf_vis = None

    def _create_filename_handler(self) -> Callable:
        """Create a filename handler for mesh resolution."""
        # Try to get mesh paths from robot model or use defaults
        package_paths = {}

        # Common ROS package locations
        common_paths = [
            Path.home() / ".ros",
            Path("/opt/ros"),
            Path.home() / "catkin_ws/src",
            Path.home() / "ros2_ws/src",
        ]

        def filename_handler(fname: str) -> str:
            """Resolve package:// URLs to actual file paths."""
            filename = fname  # yourdfpy uses 'fname' as the parameter name
            if filename.startswith("package://"):
                # Handle package:///filename (no package name, just filename)
                if filename.startswith("package:///"):
                    # This means the file is relative to the URDF directory
                    relative_filename = filename[11:]  # Remove "package:///"
                    urdf_dir = Path(self.urdf_path).parent
                    full_path = urdf_dir / relative_filename
                    if full_path.exists():
                        print(f"Resolved {filename} -> {full_path}")
                        return str(full_path)
                    print(f"Warning: Could not find {relative_filename} in {urdf_dir}")
                    return filename

                # Extract package name and path
                package_part = filename[10:]  # Remove "package://"
                parts = package_part.split("/", 1)
                if len(parts) == 2:
                    package_name, path = parts

                    # Check if we have a known path for this package
                    if package_name in package_paths:
                        return str(package_paths[package_name] / path)

                    # Search in common locations
                    for base_path in common_paths:
                        package_path = base_path / package_name
                        if package_path.exists():
                            full_path = package_path / path
                            if full_path.exists():
                                return str(full_path)

            # Return as-is if not a package URL or not found
            return filename

        return filename_handler

    def display(self, q: np.ndarray):
        """Update robot display with new configuration."""
        if self.urdf_vis and self.urdf:
            # Update URDF configuration
            # Map from robot model joints to URDF joints
            cfg = np.zeros(len(self.urdf.joint_names))

            # Get joint names from robot model
            robot_joint_names = self.robot_model.get_joint_names()

            # Debug first call
            if not hasattr(self, "_debug_printed"):
                print(f"  Robot joints: {robot_joint_names}")
                print(f"  Joint config q: {q}")
                self._debug_printed = True

            # Map joint values - try different approaches
            # 1. First try using controlled_joints if available
            controlled_joints = getattr(self.robot_model, "controlled_joint_names", [])
            controlled_indices = getattr(self.robot_model, "controlled_joint_indices", {})

            if controlled_joints and controlled_indices:
                for joint_name in controlled_joints:
                    if joint_name in self.urdf.joint_names and joint_name in controlled_indices:
                        urdf_idx = self.urdf.joint_names.index(joint_name)
                        robot_idx = controlled_indices[joint_name]
                        if robot_idx < len(q):
                            cfg[urdf_idx] = q[robot_idx]
            else:
                # 2. Fall back to direct mapping by name order
                for i, joint_name in enumerate(robot_joint_names):
                    if joint_name in self.urdf.joint_names and i < len(q):
                        urdf_idx = self.urdf.joint_names.index(joint_name)
                        cfg[urdf_idx] = q[i]

            self.urdf_vis.update_cfg(cfg)

        # Update COM if enabled
        if hasattr(self, "gui_show_com") and self.gui_show_com and self.gui_show_com.value:
            com_position = self.robot_model.get_com_position()
            self.visualize_com(com_position)

    def update(self, q: np.ndarray):
        """Alias for display() to maintain compatibility."""
        self.display(q)

    def set_display_options(
        self, visuals: bool = True, collisions: bool = False, frames: bool = False
    ):
        """Set display options for robot visualization."""
        # With direct Viser control, we can toggle visibility
        if self.urdf_vis:
            self.urdf_vis.visible = visuals

        # Frames and collisions would need custom implementation
        if frames:
            print("Frame display not yet implemented in direct Viser mode")
        if collisions:
            print("Collision display not yet implemented in direct Viser mode")

    def add_target_marker(
        self,
        name: str,
        pose: np.ndarray,
        color: Tuple[float, float, float] = (0, 1, 0),
        size: float = 0.05,
    ):
        """Add IK target marker."""
        position = pose[:3, 3]
        # Convert to quaternion (wxyz format)
        quaternion = matrix_to_quaternion_wxyz(pose[:3, :3])

        # Add sphere for position
        sphere_name = f"/targets/{name}/sphere"
        sphere = self.server.scene.add_icosphere(
            sphere_name, radius=size, position=position, color=color
        )

        # Add frame for orientation
        frame_name = f"/targets/{name}/frame"
        frame = self.server.scene.add_frame(
            frame_name,
            wxyz=quaternion,
            position=position,
            axes_length=size * 2,
            axes_radius=size * 0.2,
        )

        self._targets[name] = (sphere_name, frame_name, sphere, frame)

    def visualize_com(
        self, com_position: np.ndarray, color: Tuple[float, float, float] = (1, 1, 0)
    ):
        """Visualize center of mass."""
        if self._com_marker:
            # Update position instead of recreating
            self._com_marker.position = com_position
        else:
            self._com_marker = self.server.scene.add_icosphere(
                "/com", radius=0.02, position=com_position, color=color
            )

    def visualize_support_polygon(
        self,
        vertices: np.ndarray,
        color: Tuple[float, float, float] = (0, 0, 1),
        opacity: float = 0.3,
    ):
        """Visualize support polygon for balance constraint."""
        if len(vertices) < 3:
            return

        # Remove existing polygon
        if self._support_polygon:
            self.server.scene.remove("/constraints/support_polygon")

        # Ensure 3D vertices
        vertices_3d = np.array(vertices)
        if vertices_3d.shape[1] == 2:
            vertices_3d = np.hstack([vertices_3d, np.zeros((len(vertices), 1))])

        # Create mesh using trimesh
        try:
            mesh = trimesh.Trimesh(
                vertices=vertices_3d,
                faces=trimesh.earcut.triangulate_polygon(vertices_3d[:, :2])[0],
            )

            self._support_polygon = self.server.scene.add_mesh_simple(
                "/constraints/support_polygon",
                vertices=mesh.vertices,
                faces=mesh.faces,
                color=color,
                opacity=opacity,
            )
        except Exception as e:
            print(f"Error creating support polygon: {e}")

    def clear_targets(self):
        """Clear all target markers."""
        for name, (sphere_name, frame_name, _, _) in self._targets.items():
            self.server.scene.remove(sphere_name)
            self.server.scene.remove(frame_name)
        self._targets.clear()

    def _setup_gui(self):
        """Set up GUI controls."""
        with self.server.gui.add_folder("Swift IK Controls"):
            # Display options
            self.gui_show_visuals = self.server.gui.add_checkbox("Show Visuals", initial_value=True)
            self.gui_show_com = self.server.gui.add_checkbox("Show COM", initial_value=True)

            # Callbacks for display options
            @self.gui_show_visuals.on_update
            def _(_):
                if self.urdf_vis:
                    self.urdf_vis.visible = self.gui_show_visuals.value

        # Add robot info
        with self.server.gui.add_folder("Robot Info"):
            nq = self.robot_model.nq if hasattr(self.robot_model, "nq") else "N/A"
            nv = self.robot_model.nv if hasattr(self.robot_model, "nv") else "N/A"
            self.server.gui.add_markdown(
                f"**Configuration dimensions:**\n" f"- nq: {nq}\n" f"- nv: {nv}"
            )

    def capture_image(self, width: int = 1920, height: int = 1080) -> Optional[np.ndarray]:
        """Capture current view as image."""
        # Viser doesn't have direct image capture like Pinocchio's visualizer
        # This would need to be implemented via client-side screenshot
        print("Image capture not yet implemented in direct Viser mode")
        return None

    def create_animation(
        self, q_trajectory: List[np.ndarray], dt: float = 0.01, filename: Optional[str] = None
    ):
        """Create animation from trajectory."""
        if filename:
            print(f"Animation recording to {filename} not yet implemented in direct Viser mode")

        # Play animation in real-time
        for q in q_trajectory:
            self.display(q)
            time.sleep(dt)

    def start_animation_loop(self, update_callback: Callable[[], np.ndarray], dt: float = 0.01):
        """
        Start an animation loop that calls update_callback repeatedly.

        Args:
            update_callback: Function that returns new configuration q
            dt: Time step in seconds
        """

        def animation_thread():
            while True:
                try:
                    q = update_callback()
                    if q is not None:
                        self.display(q)
                except Exception as e:
                    print(f"Animation error: {e}")
                time.sleep(dt)

        thread = threading.Thread(target=animation_thread, daemon=True)
        thread.start()

    def wait(self):
        """Keep the server running (blocking call)."""
        while True:
            time.sleep(0.1)

Functions

__init__ 

__init__(robot_model, port=8080, open_browser=True)

Initialize visualizer using Viser directly.

Parameters:

Name Type Description Default
robot_model Any

embodiK RobotModel instance

 required
port int

Port for Viser web server

 8080
open_browser bool

Whether to automatically open browser

 True
Source code in python/embodik/visualization.py 
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def __init__(self, robot_model: Any, port: int = 8080, open_browser: bool = True):
    """
    Initialize visualizer using Viser directly.

    Args:
        robot_model: embodiK RobotModel instance
        port: Port for Viser web server
        open_browser: Whether to automatically open browser
    """
    self.robot_model = robot_model
    self.server = ViserServer(port=port)

    # Load URDF for visualization
    self._load_urdf_visualization()

    # Custom visualization elements
    self._targets = {}
    self._com_marker = None
    self._support_polygon = None

    # Add GUI controls
    self._setup_gui()

    if open_browser:
        print(f"Viser server started at http://localhost:{port}")

add_target_marker 

add_target_marker(name, pose, color=(0, 1, 0), size=0.05)

Add IK target marker.

Source code in python/embodik/visualization.py 
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def add_target_marker(
    self,
    name: str,
    pose: np.ndarray,
    color: Tuple[float, float, float] = (0, 1, 0),
    size: float = 0.05,
):
    """Add IK target marker."""
    position = pose[:3, 3]
    # Convert to quaternion (wxyz format)
    quaternion = matrix_to_quaternion_wxyz(pose[:3, :3])

    # Add sphere for position
    sphere_name = f"/targets/{name}/sphere"
    sphere = self.server.scene.add_icosphere(
        sphere_name, radius=size, position=position, color=color
    )

    # Add frame for orientation
    frame_name = f"/targets/{name}/frame"
    frame = self.server.scene.add_frame(
        frame_name,
        wxyz=quaternion,
        position=position,
        axes_length=size * 2,
        axes_radius=size * 0.2,
    )

    self._targets[name] = (sphere_name, frame_name, sphere, frame)

capture_image 

capture_image(width=1920, height=1080)

Capture current view as image.

Source code in python/embodik/visualization.py 
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def capture_image(self, width: int = 1920, height: int = 1080) -> Optional[np.ndarray]:
    """Capture current view as image."""
    # Viser doesn't have direct image capture like Pinocchio's visualizer
    # This would need to be implemented via client-side screenshot
    print("Image capture not yet implemented in direct Viser mode")
    return None

clear_targets 

clear_targets()

Clear all target markers.

Source code in python/embodik/visualization.py 
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def clear_targets(self):
    """Clear all target markers."""
    for name, (sphere_name, frame_name, _, _) in self._targets.items():
        self.server.scene.remove(sphere_name)
        self.server.scene.remove(frame_name)
    self._targets.clear()

create_animation 

create_animation(q_trajectory, dt=0.01, filename=None)

Create animation from trajectory.

Source code in python/embodik/visualization.py 
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def create_animation(
    self, q_trajectory: List[np.ndarray], dt: float = 0.01, filename: Optional[str] = None
):
    """Create animation from trajectory."""
    if filename:
        print(f"Animation recording to {filename} not yet implemented in direct Viser mode")

    # Play animation in real-time
    for q in q_trajectory:
        self.display(q)
        time.sleep(dt)

display 

display(q)

Update robot display with new configuration.

Source code in python/embodik/visualization.py 
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def display(self, q: np.ndarray):
    """Update robot display with new configuration."""
    if self.urdf_vis and self.urdf:
        # Update URDF configuration
        # Map from robot model joints to URDF joints
        cfg = np.zeros(len(self.urdf.joint_names))

        # Get joint names from robot model
        robot_joint_names = self.robot_model.get_joint_names()

        # Debug first call
        if not hasattr(self, "_debug_printed"):
            print(f"  Robot joints: {robot_joint_names}")
            print(f"  Joint config q: {q}")
            self._debug_printed = True

        # Map joint values - try different approaches
        # 1. First try using controlled_joints if available
        controlled_joints = getattr(self.robot_model, "controlled_joint_names", [])
        controlled_indices = getattr(self.robot_model, "controlled_joint_indices", {})

        if controlled_joints and controlled_indices:
            for joint_name in controlled_joints:
                if joint_name in self.urdf.joint_names and joint_name in controlled_indices:
                    urdf_idx = self.urdf.joint_names.index(joint_name)
                    robot_idx = controlled_indices[joint_name]
                    if robot_idx < len(q):
                        cfg[urdf_idx] = q[robot_idx]
        else:
            # 2. Fall back to direct mapping by name order
            for i, joint_name in enumerate(robot_joint_names):
                if joint_name in self.urdf.joint_names and i < len(q):
                    urdf_idx = self.urdf.joint_names.index(joint_name)
                    cfg[urdf_idx] = q[i]

        self.urdf_vis.update_cfg(cfg)

    # Update COM if enabled
    if hasattr(self, "gui_show_com") and self.gui_show_com and self.gui_show_com.value:
        com_position = self.robot_model.get_com_position()
        self.visualize_com(com_position)

set_display_options 

set_display_options(visuals=True, collisions=False, frames=False)

Set display options for robot visualization.

Source code in python/embodik/visualization.py 
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def set_display_options(
    self, visuals: bool = True, collisions: bool = False, frames: bool = False
):
    """Set display options for robot visualization."""
    # With direct Viser control, we can toggle visibility
    if self.urdf_vis:
        self.urdf_vis.visible = visuals

    # Frames and collisions would need custom implementation
    if frames:
        print("Frame display not yet implemented in direct Viser mode")
    if collisions:
        print("Collision display not yet implemented in direct Viser mode")

start_animation_loop 

start_animation_loop(update_callback, dt=0.01)

Start an animation loop that calls update_callback repeatedly.

Parameters:

Name Type Description Default
update_callback Callable[[], ndarray]

Function that returns new configuration q

 required
dt float

Time step in seconds

 0.01
Source code in python/embodik/visualization.py 
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def start_animation_loop(self, update_callback: Callable[[], np.ndarray], dt: float = 0.01):
    """
    Start an animation loop that calls update_callback repeatedly.

    Args:
        update_callback: Function that returns new configuration q
        dt: Time step in seconds
    """

    def animation_thread():
        while True:
            try:
                q = update_callback()
                if q is not None:
                    self.display(q)
            except Exception as e:
                print(f"Animation error: {e}")
            time.sleep(dt)

    thread = threading.Thread(target=animation_thread, daemon=True)
    thread.start()

update 

update(q)

Alias for display() to maintain compatibility.

Source code in python/embodik/visualization.py 
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def update(self, q: np.ndarray):
    """Alias for display() to maintain compatibility."""
    self.display(q)

visualize_com 

visualize_com(com_position, color=(1, 1, 0))

Visualize center of mass.

Source code in python/embodik/visualization.py 
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def visualize_com(
    self, com_position: np.ndarray, color: Tuple[float, float, float] = (1, 1, 0)
):
    """Visualize center of mass."""
    if self._com_marker:
        # Update position instead of recreating
        self._com_marker.position = com_position
    else:
        self._com_marker = self.server.scene.add_icosphere(
            "/com", radius=0.02, position=com_position, color=color
        )

visualize_support_polygon 

visualize_support_polygon(vertices, color=(0, 0, 1), opacity=0.3)

Visualize support polygon for balance constraint.

Source code in python/embodik/visualization.py 
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def visualize_support_polygon(
    self,
    vertices: np.ndarray,
    color: Tuple[float, float, float] = (0, 0, 1),
    opacity: float = 0.3,
):
    """Visualize support polygon for balance constraint."""
    if len(vertices) < 3:
        return

    # Remove existing polygon
    if self._support_polygon:
        self.server.scene.remove("/constraints/support_polygon")

    # Ensure 3D vertices
    vertices_3d = np.array(vertices)
    if vertices_3d.shape[1] == 2:
        vertices_3d = np.hstack([vertices_3d, np.zeros((len(vertices), 1))])

    # Create mesh using trimesh
    try:
        mesh = trimesh.Trimesh(
            vertices=vertices_3d,
            faces=trimesh.earcut.triangulate_polygon(vertices_3d[:, :2])[0],
        )

        self._support_polygon = self.server.scene.add_mesh_simple(
            "/constraints/support_polygon",
            vertices=mesh.vertices,
            faces=mesh.faces,
            color=color,
            opacity=opacity,
        )
    except Exception as e:
        print(f"Error creating support polygon: {e}")

wait 

wait()

Keep the server running (blocking call).

Source code in python/embodik/visualization.py 
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def wait(self):
    """Keep the server running (blocking call)."""
    while True:
        time.sleep(0.1)

InteractiveVisualizer

Bases: EmbodikVisualizer

Interactive visualizer with target manipulation.

Source code in python/embodik/visualization.py 
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class InteractiveVisualizer(EmbodikVisualizer):
    """Interactive visualizer with target manipulation."""

    def __init__(self, robot_model, port: int = 8080):
        super().__init__(robot_model, port)

        # Interactive handles
        self._interactive_targets: Dict[str, Any] = {}  # Viser transform controls

        # Callbacks
        self._target_update_callbacks = {}

    def add_interactive_target(
        self,
        name: str,
        initial_pose: np.ndarray,
        callback: Optional[Callable[[np.ndarray], None]] = None,
        color: Tuple[float, float, float] = (0, 1, 0),
    ):
        """
        Add an interactive target that can be manipulated.

        Args:
            name: Target name
            initial_pose: Initial 4x4 pose matrix
            callback: Function called when target is moved (receives new pose)
            color: Target color
        """
        position = initial_pose[:3, 3]
        quaternion = matrix_to_quaternion_wxyz(initial_pose[:3, :3])

        # Create transform controls
        controls = self.server.scene.add_transform_controls(
            f"/interactive_targets/{name}", wxyz=quaternion, position=position
        )

        self._interactive_targets[name] = controls

        # Add visual marker
        self.add_target_marker(name, initial_pose, color)

        # Store callback
        if callback:
            self._target_update_callbacks[name] = callback

        # Set up update handler
        @controls.on_update
        def _(_):
            # Build pose matrix from current controls
            pose = np.eye(4)
            pose[:3, 3] = np.array(controls.position)

            # Convert quaternion to rotation matrix (wxyz format)
            pose[:3, :3] = quaternion_wxyz_to_matrix(controls.wxyz)

            # Update visual marker
            self.add_target_marker(name, pose, color)

            # Call callback if registered
            if name in self._target_update_callbacks:
                self._target_update_callbacks[name](pose)

    def get_interactive_target_pose(self, name: str) -> Optional[np.ndarray]:
        """Get current pose of interactive target."""
        if name not in self._interactive_targets:
            return None

        controls = self._interactive_targets[name]

        # Build pose matrix
        pose = np.eye(4)
        pose[:3, 3] = np.array(controls.position)

        # Convert quaternion to rotation matrix
        pose[:3, :3] = quaternion_wxyz_to_matrix(controls.wxyz)

        return pose

Functions

add_interactive_target 

add_interactive_target(name, initial_pose, callback=None, color=(0, 1, 0))

Add an interactive target that can be manipulated.

Parameters:

Name Type Description Default
name str

Target name

 required
initial_pose ndarray

Initial 4x4 pose matrix

 required
callback Optional[Callable[[ndarray], None]]

Function called when target is moved (receives new pose)

 None
color Tuple[float, float, float]

Target color

 (0, 1, 0)
Source code in python/embodik/visualization.py 
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def add_interactive_target(
    self,
    name: str,
    initial_pose: np.ndarray,
    callback: Optional[Callable[[np.ndarray], None]] = None,
    color: Tuple[float, float, float] = (0, 1, 0),
):
    """
    Add an interactive target that can be manipulated.

    Args:
        name: Target name
        initial_pose: Initial 4x4 pose matrix
        callback: Function called when target is moved (receives new pose)
        color: Target color
    """
    position = initial_pose[:3, 3]
    quaternion = matrix_to_quaternion_wxyz(initial_pose[:3, :3])

    # Create transform controls
    controls = self.server.scene.add_transform_controls(
        f"/interactive_targets/{name}", wxyz=quaternion, position=position
    )

    self._interactive_targets[name] = controls

    # Add visual marker
    self.add_target_marker(name, initial_pose, color)

    # Store callback
    if callback:
        self._target_update_callbacks[name] = callback

    # Set up update handler
    @controls.on_update
    def _(_):
        # Build pose matrix from current controls
        pose = np.eye(4)
        pose[:3, 3] = np.array(controls.position)

        # Convert quaternion to rotation matrix (wxyz format)
        pose[:3, :3] = quaternion_wxyz_to_matrix(controls.wxyz)

        # Update visual marker
        self.add_target_marker(name, pose, color)

        # Call callback if registered
        if name in self._target_update_callbacks:
            self._target_update_callbacks[name](pose)

get_interactive_target_pose 

get_interactive_target_pose(name)

Get current pose of interactive target.

Source code in python/embodik/visualization.py 
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def get_interactive_target_pose(self, name: str) -> Optional[np.ndarray]:
    """Get current pose of interactive target."""
    if name not in self._interactive_targets:
        return None

    controls = self._interactive_targets[name]

    # Build pose matrix
    pose = np.eye(4)
    pose[:3, 3] = np.array(controls.position)

    # Convert quaternion to rotation matrix
    pose[:3, :3] = quaternion_wxyz_to_matrix(controls.wxyz)

    return pose

Installation

Install visualization dependencies:

pip install embodik[visualization]

This installs:

  • pin>=3.8.0 — Pinocchio (PyPI package name is pin; import is pinocchio)
  • viser>=0.1.0 — 3D visualization library
  • trimesh>=3.0.0 — Mesh loading for visualization

Note: Pinocchio 3.8.0+ includes native Viser visualization support. For legacy systems, the package falls back to custom visualization using yourdfpy if Pinocchio's visualizer is not available.