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https://github.com/JuliaRobotics/MeshCatMechanisms.jl
3D Visualization of mechanisms and URDFs using MeshCat.jl and RigidBodyDynamics.jl
https://github.com/JuliaRobotics/MeshCatMechanisms.jl
3d julia robotics urdf visualization
Last synced: 3 months ago
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3D Visualization of mechanisms and URDFs using MeshCat.jl and RigidBodyDynamics.jl
- Host: GitHub
- URL: https://github.com/JuliaRobotics/MeshCatMechanisms.jl
- Owner: JuliaRobotics
- License: other
- Created: 2018-02-20T20:53:46.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2023-05-21T02:19:47.000Z (over 1 year ago)
- Last Synced: 2024-04-27T02:01:33.903Z (7 months ago)
- Topics: 3d, julia, robotics, urdf, visualization
- Language: Julia
- Homepage:
- Size: 124 KB
- Stars: 40
- Watchers: 6
- Forks: 8
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
Awesome Lists containing this project
README
# MeshCatMechanisms
[](https://github.com/JuliaRobotics/MeshCatMechanisms.jl/actions?query=workflow%3ACI)
[](http://codecov.io/github/JuliaRobotics/MeshCatMechanisms.jl?branch=master)
MeshCatMechanisms.jl adds support for visualizing mechanisms and robots from [RigidBodyDynamics.jl](https://github.com/tkoolen/RigidBodyDynamics.jl) with [MeshCat.jl](https://github.com/rdeits/MeshCat.jl). All geometries are constructed using [MechanismGeometries.jl](https://github.com/rdeits/MechanismGeometries.jl).
Features:
* Parsing geometry directly from URDF files
* Animation of robot trajectories from RigidBodyDynamics.jl simulations
* Live rendering of simulation progress using the `OdeIntegrators.OdeResultsSink` interface
* Interactive manipulation of the mechanism configuration using [InteractBase.jl](https://github.com/piever/InteractBase.jl)
## Related Projects
MeshCatMechanisms.jl provides similar functionality to [RigidBodyTreeInspector.jl](https://github.com/rdeits/RigidBodyTreeInspector.jl), but is built on top of the lighter-weight MeshCat viewer instead of [DrakeVisualizer.jl](https://github.com/rdeits/DrakeVisualizer.jl).
# Installation
Stable release:
```julia
Pkg.add("MeshCatMechanisms")
```
Latest and greatest:
```julia
Pkg.add("MeshCatMechanisms")
Pkg.clone("https://github.com/rdeits/MechanismGeometries.jl")
Pkg.checkout("MeshCatMechanisms")
Pkg.checkout("MeshCat")
```
# Usage
See [examples/demo.ipynb](examples/demo.ipynb)
# Examples
