dummy-link

MeshCatMechanisms

3D Visualization of mechanisms and URDFs using MeshCat.jl and RigidBodyDynamics.jl

Readme

MeshCatMechanisms

Build Status codecov.io

MeshCatMechanisms.jl adds support for visualizing mechanisms and robots from RigidBodyDynamics.jl with MeshCat.jl. All geometries are constructed using 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

Related Projects

MeshCatMechanisms.jl provides similar functionality to RigidBodyTreeInspector.jl, but is built on top of the lighter-weight MeshCat viewer instead of DrakeVisualizer.jl.

Installation

Stable release:

Pkg.add("MeshCatMechanisms")

Latest and greatest:

Pkg.add("MeshCatMechanisms")
Pkg.clone("https://github.com/rdeits/MechanismGeometries.jl")
Pkg.checkout("MeshCatMechanisms")
Pkg.checkout("MeshCat")

Usage

See examples/demo.ipynb

Examples

First Commit

02/20/2018

Last Touched

3 months ago

Commits

112 commits