Digital Twin Basics

My project for Northeastern's CS4300 Computer Graphics with Professor Shah. I built a basic robot simulator which parses a URDF file and can perform forward kinematics to control the joints of the robot.

The crate provides several modules:

• wgpu_program provides a simple engine for rendering meshes and scene graphs
• urdf parses URDF XML into a scene graph with transformation information, as well as visual, inertial, collision data
• geometry provides mesh parsing and homogeneous transformations
• shader convenience traits for compiling shader programs
• bindings convenience traits for creating bindings to buffers in the program
• camera data structure for creating camera
• light data structure for adding lights
• texture convenience for creating textures

build and run

To build the library with an up-to-date Rust toolchain:

cargo build

To run the XArm example:

cargo run --example=urdf_arm