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.

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")