Robot model visualization

[ZdenekM]

By default, the robot's model is not visualized.

Robot's model (URDF) should be always visualized in the following cases:

• the user has selected stored joints (the model is shown in that configuration)
• VR mode active (visualization of the robot's current state)
• there is selected action that takes pose/joints as a parameter
• action taking pose/joints as a parameter is being executed (visualization of the target state)

Robot's model could be optionally visualized in the following cases:

• anytime, showing the current state of the robot(s) - the user might want to check if models match real robots

For the case that the user is in VR mode, or has enabled permanent visualization of the robot's model, the visualization of the robot's current state must be clearly distinguished from other visualizations that are using the model (stored joints, etc.).

[ZdenekM]

@rstourac @martincervinka We have started to think about the usage and utility of robot model visualization - when and for what it might be useful. We would be grateful for any feedback or ideas on this. Please note that this is only about visualization of stored data, or the current state. Model control will be handled afterward. Many thanks.

[ZdenekM]

@rstourac @martincervinka Any ideas on this?