We introduce a text and graphical IDE based on VSCode (desktop) and Theia (web), with the kinematic model descibed in https://github.com/ipa320/kinematics-model as the base. This IDE allows creating kinematic models from scratch and composing those models.

The text-based editor provides typical IDE features like code completion and navigation to declaration of a symbol. The graphical editor allows editing and visualizing the model as a TF tree. A live visualization of the models can be previewed in a side panel while editing in both tools.

$ git clone [email protected]:ipa-hsd/vscode-kinematics-model.git
$ cd vscode-kinematics-model/kinematics
vscode-kinematics-model/kinematics$ code .

To start the extension in debug mode, press F5.

Some examples of the models that can be used for composition and visualization can be found here

The extension is also made available on VSCode marketplace: https://marketplace.visualstudio.com/items?itemName=ipa-hsd.kinematics Please check here for details on how to install VS Code extension.

ros3djs: Screen interaction, loading meshes, visualizing coordinate frames
roslibjs: Datastructures like Pose, Vector3, Quaternion
threejs: Apart from internally used by ros3djs, matrix operations antlr4ts: Auto-generation of model lexer and parser from grammar file (.g) which is generated by Xtext