Batched URDF Loading

[itsikelis]

Hello,

First of all, thank you for all the effort you are putting in this project.

I am trying to visualize a batch of robots, like in the demo reel in your website, with the quadruped robots walking.

Is there a way to efficiently load a batch of URDF models in Viser? Similar to the way batched mesh rendering works.

Thank you in advance.

[brentyi]

Hi @itsikelis!

I can't think of a batched URDF implementation that's immediately runnable.

There's some code here, which should work if you uncomment: https://github.com/chungmin99/pyroki/blob/main/src/pyroki/viewer/_batched_urdf.py

Example:

The FK there is tied to pyroki / JAX, but removing those dependencies shouldn't be too hard.