Due to time constraints, I am unable to maintain this project constantly. However, the work is in progress, and any contributions are greatly appreciated.
Please refer to the following guidelines for areas where help is needed:

General Guidelines

• Use the minimal header includes as possible.
• Follow file naming conventions .h for headers and .cc for implementations
• The common/ folder should contain only interfaces or shared code.
• Try to be highly modular with a focus on polymorphism.
• Avoid using Boost libraries wherever possible.

Notes

• The current version parses and renders model joints, links, and visual elements. Other elements like transmissions and sensors will be supported in future releases.
• Physical consistency verification (e.g., inertia values) is not activated by default.
• A scaling issue may occur during rendering due to element marker sizes.
• The COLLADA file format for links' visual or collision meshes is not yet supported. Only STL files, STEP will be handled, other CAD file format, will be added progressivlly
• Multi-model handling, model interactions, and world parsing are not yet supported.
• File paths should be absolute. Relative paths are not currently supported.

Style

We generally follow the Google Style Guide. Currently, there is no automated checking pipeline for this, but I will personally review the code. Contributions to add such a pipeline would be highly appreciated.

Current Tasks

Here are some key tasks where contributions are needed:

• [ ] Complete the implementation of the urdf-graphiz interface.
• [ ] Complete the development of core modules:
  • camera
  • camera_parser
• [ ] Add support for transmission parsing.
• [ ] Enhance the model to support graph construction for complex robots.
  We can rely on:
  • std::map or std::unordered_map for a simple implementation.
  • Complete the implementation of internal_graph module
  • An external graph library like CXXGraph for advanced graph representation is allowed to use.
• [ ] Add Collada file support using the collada-dom library.
• [ ] Ensure each implementation is tested in the test folder.
• [ ] Add graph computation functions (e.g., computing model roots, leaves, etc.).
• [ ] Implement utility functions for inertial, volume, and collision computations, such as:
  • Total mass
  • Center of inertia
  • Total volume of the model
  • Density, and more
  • Precomputed Forward Kinematics
  • Bounding Volume Hierarchy (BVH) for fast collision detection

Additional Features

These additional features would improve the library:

• [ ] Add a custom project logo.
• [ ] Create a pipeline to deploy the library upon each release to vcpkg package manager.
• [ ] Check/test the docker pipeline build status and create a custom workflow.

If you have any questions or need clarification, feel free to email me.

Thank you for contributing!