meshcat
Remotely-controllable 3D viewer, built on top of three.js (by meshcat-dev)
pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives (by stack-of-tasks)
| meshcat | pinocchio | |
|---|---|---|
| 6 | 9 | |
| 231 | 1,530 | |
| 6.5% | 7.5% | |
| 6.7 | 9.3 | |
| 9 days ago | 22 days ago | |
| HTML | C++ | |
| MIT License | GNU General Public License v3.0 or later |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
meshcat
Posts with mentions or reviews of meshcat.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-10-03.
- Can I control Mitsubishi RV-7FL-D with ROS?
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Visualization Software for robotics
They use MeshCat: https://github.com/rdeits/meshcat
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Animations fro Robotics Research
For rigid-body robots Meshcat is convenient. I use it from Python all the time.
- What software can I use to play around with articulated robots?
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program to visualise 3D dynamic simulation?
https://github.com/rdeits/meshcat https://github.com/rdeits/meshcat-python https://github.com/rdeits/MeshCat.jl
- What Programming language/library to use for 3D visualisation of a robot arm?
pinocchio
Posts with mentions or reviews of pinocchio.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-06-17.
- Good examples of C++ source code for math oriented software development?
- How to do position control of an elastic robot arm?
- Which is the best way to work with matrices and linear algebra using c++?
- I want to build a bipedal robot. Are there any open source libraries to handle walking and balancing?
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
Open-loop walking + physics: (e.g. ZMP-based) one thing you can do (that does not imply adding an IMU to Kayra and going for feedback) is include some walking physics into your walking trajectory generation. To give you an idea, I've written a tutorial on doing that in Python a couple of years ago. The libraries in this tutorial are deprecated now, but I'm working on an equivalent stack at github.com/tasts-robots using more durable software like pinocchio. The libs are still WIP but if you are interested in exploring that dev path (i.e. making a ZMP-based trajectory generator for Kayra) I can support you and help adapt them (because I want that SW to be useful for a maximum number of people).
- What type of software is widely used for robotics in industry?
- I have a robot model in URDF (running in pybullet). Are there easy tools to get the forward/inverse kinematics, and especially use that to plug it into a LQR controller?
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What software can I use to play around with articulated robots?
Drake and Pinocchio both use the Python interface to Meshcat as an option for visualizing robots, and they can both do the forward kinematics and have visualizer components that place the visual meshes properly relative to the computed frames, but both of those are full-fledged and complex kinematics and dynamics libraries for contact-rich interaction (and more), so the API calls to get a model set up are doing a lot more than providing a visual model you can feed joint angles to.
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Rigid Body Dynamics Libraries
Pinocchio sounds like exactly what you need: https://github.com/stack-of-tasks/pinocchio
What are some alternatives?
When comparing meshcat and pinocchio you can also consider the following projects:
meshcat-python - WebGL-based 3D visualizer for Python
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.