Installation
Usage

conda env create -f environment.yml
pip install networkx==2.5 # random fix to make urdfpy work

• Download Blender 2.93.4 for your OS from https://www.blender.org/download/lts/2-93/
• Alias blender in your ~/.bashrc (mine looks like the following:)

alias blender="/Applications/Blender.app/Contents/MacOS/Blender"

• After this, run source ~/.bashrc

• Provide an input trajectory traj.npy which is N x 7 and play it back using a Panda URDF in PyBullet

python pybullet_replay.py --joint_angles_file traj.npy

• Render images of the trajectory into a directory called images # Note, this is slow on CPU, so try to subsample your trajectories to length 20-30 poses; (TODO: add support for CUDA rendering)

# Note, see the settings at line 249 for different modes of visualizing
blender -b -P render.py 

• See the script to configure different camera poses/rendering settings and adding objects to the scene

• Composite multiple frames to create a trajectory visualization (saves to result.png)

python overlay_traj.py