This package implements several methods of generating or loading geometries associated with a RigidBodyDynamics.jl
Mechanism in Julia. It is currently used by MeshCatMechanisms.jl but can also be used independently.
This package exports one primary method:
visual_elements returns a vector of
VisualElement structs, each of which contains:
CartesianFrame3Dindicating where the geometry is attached in the mechanism
geometry: One of the GeometryTypes.jl types
color: an RGBA color from ColorTypes.jl
Transformationfrom CoordinateTransformations.jl indicating the pose of the geometry w.r.t its attached frame.
Currently implemented sources
These demonstrations use the Boston Dynamics Atlas robot from AtlasRobot.jl.
using AtlasRobot using MechanismGeometries mechanism = AtlasRobot.mechanism()
Skeleton <: AbstractGeometrySource
Skeleton type uses only the joints and bodies in the mechanism itself to construct a visual representation of the robot's links. The sticks connect joints in the mechanism and the ellipsoids represent the mass and moment of inertia of each body:
The moment of inertia ellipsoids can also be turned off, leaving just the joint connections:
URDFVisuals <: AbstractGeometrySource
URDFVisuals type loads the visual elements from a given URDF file (passed as either a filename or a parsed
XMLDocument from LightXML.jl). One particularly useful argument is
package_path, which accepts a list of strings to use as potential directories to search when encountering mesh files using the ROS
visual_elements(mechanism, URDFVisuals(AtlasRobot.urdfpath(), package_path=[AtlasRobot.packagepath()]))
The following extensions to the URDF spec are parsed by MechanismGeometries.jl:
<plane normal="0 0 1"/>: Represents an infinite plane perpendicular to the
normalgiven as an x y z unit vector. Returns a MechanismGeometries.HyperPlane