{"id":15574470,"url":"https://github.com/giulioromualdi/idyntree-meshcat-cpp","last_synced_at":"2026-04-29T18:34:02.772Z","repository":{"id":67926229,"uuid":"587852251","full_name":"GiulioRomualdi/idyntree-meshcat-cpp","owner":"GiulioRomualdi","description":"A simple bridge between iDynTree and the meshcat-cpp 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returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp","meshcat","robotics","visualizer"],"created_at":"2024-10-02T18:17:20.326Z","updated_at":"2026-04-29T18:34:02.758Z","avatar_url":"https://github.com/GiulioRomualdi.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003cp align=\"center\"\u003e\n\u003ch1 align=\"center\"\u003eidyntree-meshcat-cpp\u003c/h1\u003e\n\u003c/p\u003e\n\u003cp align=\"center\"\u003e\n\u003ca href=\"https://isocpp.org\"\u003e\u003cimg src=\"https://img.shields.io/badge/standard-C++17-blue.svg?style=flat\u0026logo=c%2B%2B\" alt=\"C++ Standard\"/\u003e\u003c/a\u003e\n\u003ca href=\"./LICENSE\"\u003e\u003cimg src=\"https://img.shields.io/badge/License-BSD_3--Clause-orange.svg\" alt=\"Size\" /\u003e\u003c/a\u003e\n\u003c/p\u003e\n\nA simple bridge between [iDynTree](https://github.com/robotology/idyntree) and the [meshcat-cpp](https://github.com/GiulioRomualdi/meshcat-cpp) interface.\n\nThis repository contains the C++ implementation of the already existing [iDynTree Meshcat visualizer python class](https://github.com/robotology/idyntree/blob/7ecf7b536be9e03fe05a0d49c8e7adbc5f84dc31/bindings/python/visualize/meshcat_visualizer.py).\n\n---\n\n\u003cp align=\"center\"\u003e\n  \u003cb\u003e 🚧 REPOSITORY UNDER DEVELOPMENT 🚧 \u003c/b\u003e\n  \u003cbr\u003eThe library implemented in this repository is still experimental and we cannot guarantee stable API\n\u003c/p\u003e\n\n---\n\n## 🏗️ Dependencies\n\n**idyntree-meshcat-cpp** depends on `iDynTree` and `meshcat-cpp`.\n\n## ⚒️ Build the library\n\nYou can build the library coping and paste the following snippet into a terminal\n```console\ngit clone https://github.com/GiulioRomualdi/idyntree-meshcat-cpp.git\ncd idyntree-meshcat-cpp\nmkdir build \u0026\u0026 cd build\ncmake ..\ncmake --build .\n[sudo] make install\n```\n## 🏃 Example\n\n**idyntree-meshcat-cpp** provides native `CMake` support which allows the library to be easily used in `CMake` projects. Please add in your `CMakeLists.txt`\n```cmake\nproject(foo)\nfind_package(iDynTreeMeshcatCpp REQUIRED)\nadd_executable(${PROJECT_NAME} src/foo.cpp)\ntarget_link_libraries(${PROJECT_NAME} iDynTreeMeshcatCpp::iDynTreeMeshcatCpp)\n```\n\nThe following example shows you how to display the iCub Humanoid robot with the visualizer. To compile the example please:\n1. Build and install the [`icub-models`](https://github.com/robotology/icub-models) project \n2. Enable `IDYNTREE_MESHCAT_CPP_BUILT_EXAMPLES` cmake option\n```cpp\n#include \u003ciDynTreeMeshcatCpp/Visualizer.h\u003e\n#include \u003ciDynTree/Model/Model.h\u003e\n#include \u003ciDynTree/ModelIO/ModelLoader.h\u003e\n#include \u003ciCubModels/iCubModels.h\u003e\n\nint main()\n{\n    iDynTreeMeshcatCpp::Visualizer viz;\n\n    const std::string modelPath = iCubModels::getModelFile(\"iCubGenova09\");\n    iDynTree::ModelLoader loader;\n    loader.loadModelFromFile(modelPath);\n\n    viz.loadModel(loader.model(), \"iCub\", {0,0,0});\n\n    viz.join();\n\n    return 0;\n}\n```\n\nOnce you have run the [example](./examples/example_viewer.cpp), the `MeshcatCpp::Meshcat` class will print the `URL` at which the MeshCat server runs. Please open the link in your browser and you should be able to see the following screen\n\n![meshcat_icub](https://user-images.githubusercontent.com/16744101/211934912-95591ede-a93c-4fae-b1d0-8466105f8fa0.png)\n\n## 🐛 Bug reports and support\n\nAll types of [issues](https://github.com/GiulioRomualdi/idyntree-meshcat-cpp/issues/new) are welcome.\n\n## 📝 License\nMaterials in this repository are distributed under the following license:\n\n\u003e All software is licensed under the BSD 3-Clause \"New\" or \"Revised\" License. See [LICENSE](https://github.com/GiulioRomualdi/idyntree-meshcat-cpp/blob/master/LICENSE) file for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiulioromualdi%2Fidyntree-meshcat-cpp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgiulioromualdi%2Fidyntree-meshcat-cpp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiulioromualdi%2Fidyntree-meshcat-cpp/lists"}