xacro-parser

import { HemisphereLight } from 'three';
import { XacroLoader } from 'xacro-parser';
import URDFLoader from 'urdf-loader';

// scene, camera and renderer are initialized here

const URL = 'https://raw.githubusercontent.com/gkjohnson/xacro-parser/master/test/data/r2_description/robots/r2b.xacro';
const MESHES_URL = 'https://raw.githubusercontent.com/gkjohnson/nasa-urdf-robots/master/r2_description';

scene.add( new HemisphereLight( 0xffffff, 0x444444, 3 ) );
camera.position.set( 2, 1.2, 2.8 );

// these files use older xacro conventions
const xacroLoader = new XacroLoader();
xacroLoader.inOrder = false;
xacroLoader.requirePrefix = false;
xacroLoader.localProperties = false;
xacroLoader.load( URL, xml => {

	// the expanded xacro is plain URDF
	const urdfLoader = new URDFLoader();
	urdfLoader.packages = { r2_description: MESHES_URL };

	const robot = urdfLoader.parse( xml );
	robot.rotation.x = - Math.PI / 2;
	robot.position.y = 0.2;
	scene.add( robot );

} );