urdf-loaders
urdf-loader
Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.
Drag and drop web component tool here!
Use
Basic Use
Loading a URDF file from a server.
import { LoadingManager } from 'three';
import URDFLoader from 'urdf-loader';
// ...init three.js scene...
const manager = new LoadingManager();
const loader = new URDFLoader( manager );
loader.packages = {
packageName : './package/dir/' // The equivalent of a (list of) ROS package(s):// directory
};
loader.load(
'T12/urdf/T12.URDF', // The path to the URDF within the package OR absolute
robot => {
// The robot is loaded!
scene.add( robot );
}
);
Custom Mesh Loader & Error Handling
Implementing custom error handling and / or adding a custom loader for meshes can be done using the loadMeshCb callback.
import { GLTFLoader } from 'three/examples/loaders/GLTFLoader.js';
import URDFLoader from 'urdf-loader';
// ...init three.js scene...
const loader = new URDFLoader();
loader.loadMeshCb = function( path, manager, onComplete ) {
const gltfLoader = new GLTFLoader( manager );
gltfLoader.load(
path,
result => {
onComplete( result.scene );
},
undefined,
err => {
// try to load again, notify user, etc
onComplete( null, err );
}
);
};
loader.load( 'T12/urdf/T12.URDF', robot => {
// The robot is loaded!
scene.add( robot );
} );
From Xacro
Using XacroParser to process a Xacro URDF file and then parse it.
import { LoaderUtils } from 'three';
import { XacroLoader } from 'xacro-parser';
import URDFLoader from 'urdf-loader';
// ...init three.js scene...
const url = './path/to/file.xacro';
const xacroLoader = new XacroLoader();
xacroLoader.load( url, xml => {
const urdfLoader = new URDFLoader();
urdfLoader.workingPath = LoaderUtils.extractUrlBase( url );
const robot = urdfLoader.parse( xml );
scene.add( robot );
} );
Adjusting Joint Angles
robot.setJointValue( jointName, jointAngle );
// or
robot.joints[ jointName ].setJointValue( jointAngle );
API
See API.md for full API documentation.
Running the Example
Install Node.js and NPM.
Run npm install.
Run npm start.
Visit localhost:9080/javascript/example/dev-bundle/ to view the page.
LICENSE
The software is available under the Apache V2.0 license.
Copyright © 2020 California Institute of Technology. ALL RIGHTS RESERVED. United States Government Sponsorship Acknowledged. Neither the name of Caltech nor its operating division, the Jet Propulsion Laboratory, nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.