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# General visualization utils
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"""
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    $(SIGNATURES)
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Initialize empty visualizer window with home axis.  New browser window will be opened based on `show=true`.
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"""
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function startDefaultVisualization(;show::Bool=true,
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                                    draworigin::Bool=true,
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                                    originscale::Float64=1.0  )
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    #
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    global drawtransform
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    viz = MeshCat.Visualizer()
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    if draworigin
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      setobject!( viz[:origin], Triad(originscale) )
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      settransform!( viz[:origin], drawtransform  (Translation(0.0, 0.0, 0.0)  LinearMap( CTs.Quat(1.0,0,0,0))) )
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    end
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    # open a new browser tab if required
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    show && open(viz)
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    return viz
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end
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# tagsOnPoses = Dict{Symbol, Vector{TagkTl}}()
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#

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