idyntree-meshcat-cpp

A simple bridge between iDynTree and the meshcat-cpp interface.

This repository contains the C++ implementation of the already existing iDynTree Meshcat visualizer python class.

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🚧 REPOSITORY UNDER DEVELOPMENT 🚧
The library implemented in this repository is still experimental and we cannot guarantee stable API

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🏗️ Dependencies

idyntree-meshcat-cpp depends on iDynTree and meshcat-cpp.

⚒️ Build the library

You can build the library coping and paste the following snippet into a terminal

git clone https://github.com/GiulioRomualdi/idyntree-meshcat-cpp.git
cd idyntree-meshcat-cpp
mkdir build && cd build
cmake ..
cmake --build .
[sudo] make install

🏃 Example

idyntree-meshcat-cpp provides native CMake support which allows the library to be easily used in CMake projects. Please add in your CMakeLists.txt

project(foo)
find_package(iDynTreeMeshcatCpp REQUIRED)
add_executable(${PROJECT_NAME} src/foo.cpp)
target_link_libraries(${PROJECT_NAME} iDynTreeMeshcatCpp::iDynTreeMeshcatCpp)

The following example shows you how to display the iCub Humanoid robot with the visualizer. To compile the example please:

1. Build and install the icub-models project
2. Enable IDYNTREE_MESHCAT_CPP_BUILT_EXAMPLES cmake option

#include <iDynTreeMeshcatCpp/Visualizer.h>
#include <iDynTree/Model/Model.h>
#include <iDynTree/ModelIO/ModelLoader.h>
#include <iCubModels/iCubModels.h>

int main()
{
    iDynTreeMeshcatCpp::Visualizer viz;

    const std::string modelPath = iCubModels::getModelFile("iCubGenova09");
    iDynTree::ModelLoader loader;
    loader.loadModelFromFile(modelPath);

    viz.loadModel(loader.model(), "iCub", {0,0,0});

    viz.join();

    return 0;
}

Once you have run the example, 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

🐛 Bug reports and support

All types of issues are welcome.

📝 License

Materials in this repository are distributed under the following license:

All software is licensed under the BSD 3-Clause "New" or "Revised" License. See LICENSE file for details.