urdf-loader

import { HemisphereLight } from 'three';
import { GLTFLoader } from 'three/addons/loaders/GLTFLoader.js';
import URDFLoader from 'urdf-loader';

// scene, camera and renderer are initialized here

const URL = 'https://raw.githubusercontent.com/gkjohnson/m2020-urdf-models/main/rover/m2020.urdf';

scene.add( new HemisphereLight( 0xffffff, 0x444444, 3 ) );
camera.position.set( 3, 2.2, 3.7 );

const loader = new URDFLoader();

// this robot's meshes are glTF, which the default mesh loader doesn't handle
loader.loadMeshCb = ( path, manager, material, done ) => {

	new GLTFLoader( manager ).load( path, gltf => done( gltf.scene ), null, error => done( null, error ) );

};

const robot = await loader.loadAsync( URL );

// URDF is Z up
robot.rotation.x = Math.PI / 2;
robot.position.set( - 0.8, - 1.05, 0 );
scene.add( robot );