tkoolen / MeshCatMechanisms.jl

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

MeshCatMechanisms

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