{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/director/issues/389","repository_url":"https://api.github.com/repos/RobotLocomotion/director","labels_url":"https://api.github.com/repos/RobotLocomotion/director/issues/389/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/director/issues/389/comments","events_url":"https://api.github.com/repos/RobotLocomotion/director/issues/389/events","html_url":"https://github.com/RobotLocomotion/director/issues/389","id":192431368,"number":389,"title":"Drake Visualizer with multiple robots","user":{"login":"rdeits","id":591886,"avatar_url":"https://avatars.githubusercontent.com/u/591886?v=3","gravatar_id":"","url":"https://api.github.com/users/rdeits","html_url":"https://github.com/rdeits","followers_url":"https://api.github.com/users/rdeits/followers","following_url":"https://api.github.com/users/rdeits/following{/other_user}","gists_url":"https://api.github.com/users/rdeits/gists{/gist_id}","starred_url":"https://api.github.com/users/rdeits/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rdeits/subscriptions","organizations_url":"https://api.github.com/users/rdeits/orgs","repos_url":"https://api.github.com/users/rdeits/repos","events_url":"https://api.github.com/users/rdeits/events{/privacy}","received_events_url":"https://api.github.com/users/rdeits/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2016-11-29T23:25:52Z","updated_at":"2016-11-30T16:30:39Z","closed_at":null,"body":"I've run into an issue that's pretty hard to get around with the way `drake-visualizer` is currently set up. Specifically, I would like to:\r\n\r\n* load robot A in drake visualizer once\r\n* at each iteration of my function:\r\n  * draw robot A in a configuration\r\n  * load and draw another robot B (whose geometry changes at every iteration)\r\n\r\nI can't currently do that, because loading robot B deletes all robots from the visualizer. I could do:\r\n\r\n* at each iteration:\r\n  * load robots A and B\r\n  * draw robot A\r\n  * draw robot B\r\n\r\nbut it's computationally wasteful, since it loads robot A every time (which might be expensive, if robot A has fancy meshes), and it's inconvenient. \r\n\r\n@patmarion I think we chatted about whether to have the `LOAD_ROBOT` command *only* delete any existing robot with the same robot ID number, rather than all robots. At the time, that seemed like a bad idea, because it leaves additional state in the visualizer. But I'm starting to wonder if it might be the right thing to do. It would certainly fix my immediate problem. \r\n\r\nBut perhaps someone else has a better idea, or another use case we need to address? \r\n\r\nHow about it? Is anyone else trying to visualize multiple robots simultaneously in the `drake-visualizer`? "},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/director/issues/comments/263921192","html_url":"https://github.com/RobotLocomotion/director/issues/389#issuecomment-263921192","issue_url":"https://api.github.com/repos/RobotLocomotion/director/issues/389","id":263921192,"user":{"login":"jwnimmer-tri","id":17596505,"avatar_url":"https://avatars.githubusercontent.com/u/17596505?v=3","gravatar_id":"","url":"https://api.github.com/users/jwnimmer-tri","html_url":"https://github.com/jwnimmer-tri","followers_url":"https://api.github.com/users/jwnimmer-tri/followers","following_url":"https://api.github.com/users/jwnimmer-tri/following{/other_user}","gists_url":"https://api.github.com/users/jwnimmer-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/jwnimmer-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jwnimmer-tri/subscriptions","organizations_url":"https://api.github.com/users/jwnimmer-tri/orgs","repos_url":"https://api.github.com/users/jwnimmer-tri/repos","events_url":"https://api.github.com/users/jwnimmer-tri/events{/privacy}","received_events_url":"https://api.github.com/users/jwnimmer-tri/received_events","type":"User","site_admin":false},"created_at":"2016-11-30T16:30:39Z","updated_at":"2016-11-30T16:30:39Z","body":"If we are changing the message semantics, I think it should be a new name.  Creating a few new protocol primitives to add & remove robots seems sensible.\r\n\r\n/CC @david-german-tri "}}
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