Anymal display is missing parts on MeshCat

[wly2014]

May be like this issue, the Anymal display also miss some parts on MeshCat.

import example_robot_data
import time

# Loading the anymal model
anymal = example_robot_data.load("anymal",display=False)

# display in MeshCat
from pinocchio.visualize import MeshcatVisualizer
robot = anymal
q_max = robot.model.upperPositionLimit.T
q_min = robot.model.lowerPositionLimit.T
q0 = (q_min+q_max)/2

viz = MeshcatVisualizer(robot.model, robot.collision_model, robot.visual_model)
# Start a new MeshCat server and client.
viz.initViewer(open=True)
# Load the robot in the viewer.
viz.loadViewerModel()
viz.display(q0)

time.sleep(10.0)

displays:

[cmastalli]

This is related to issues in Meshcat when supporting Collada files. Some related efforts can be seen in meshcat-dev/meshcat#139 and meshcat-dev/meshcat#170.

I will close this issue as we're not planning to handle this now.