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urdf-loader
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urdf-loader - npm Package Compare versions
Comparing version 0.3.4 to 0.3.5
@@ -139,2 +139,4 @@ /* globals animToggle viewer setColor */ | ||
| viewer.up = '+Z'; | ||
| document.getElementById('up-select').value = viewer.up; | ||
| viewer.urdf = | ||
@@ -141,0 +143,0 @@ filesNames |
@@ -167,13 +167,24 @@ /* globals animToggle viewer THREE */ | ||
| // update the joint display | ||
| const slider = li.querySelector('input[type="range"]'); | ||
| const input = li.querySelector('input[type="number"]'); | ||
| li.update = () => { | ||
| let degVal = joint.urdf.type === 'revolute' ? joint.urdf.angle * RAD2DEG : joint.urdf.angle; | ||
| if (Math.abs(degVal) > 1) degVal = degVal.toFixed(1); | ||
| else degVal = degVal.toPrecision(2); | ||
| let degVal = joint.urdf.angle; | ||
| if (joint.urdf.type === 'revolute' || joint.urdf.type === 'continuous') { | ||
| degVal *= RAD2DEG; | ||
| } | ||
| if (Math.abs(degVal) > 1) { | ||
| degVal = degVal.toFixed(1); | ||
| } else { | ||
| degVal = degVal.toPrecision(2); | ||
| } | ||
| input.value = parseFloat(degVal); | ||
| // directly input the value | ||
| slider.value = joint.urdf.angle; | ||
| if (viewer.ignoreLimits) { | ||
| if (viewer.ignoreLimits || joint.urdf.type === 'continuous') { | ||
| slider.min = -6.28; | ||
@@ -180,0 +191,0 @@ slider.max = 6.28; |
| { | ||
| "name": "urdf-loader", | ||
| "version": "0.3.4", | ||
| "version": "0.3.5", | ||
| "description": "URDF Loader for THREE.js and webcomponent viewer", | ||
@@ -5,0 +5,0 @@ "scripts": { |
@@ -16,4 +16,4 @@ # javascript urdf-loader [](https://www.npmjs.com/package/urdf-loader) | ||
| loader.load( | ||
| '.../package/dir/', // URDF's package:// directory | ||
| 'T12/urdf/T12.URDF', // The path to the URDF in the package | ||
| '.../package/dir/', // The equivelant of a (list of) ROS package(s):// directory | ||
| 'T12/urdf/T12.URDF', // The path to the URDF within the package OR absolute | ||
| robot => { }, // The robot is loaded! | ||
@@ -25,2 +25,6 @@ (path, ext, done) => { }, // Callback for each mesh for custom mesh processing and loading code | ||
| ### Limitations | ||
| - Only `prismatic`, `continuous`, `revolute`, and `fixed` joints are supported. | ||
| - Collision tags are not parsed. | ||
| ### API | ||
@@ -43,6 +47,15 @@ #### URDFLoader(manager) | ||
| The path representing the `package://` directory to load `package://` relative files. | ||
| The path representing the `package://` directory(s) to load `package://` relative files. | ||
| ##### urdfpath | ||
| If the argument is a string, then it is used to replace the `package://` prefix when loading geometry. To specify multiple packages an object syntax used defining the package name to the package path: | ||
| ```js | ||
| { | ||
| "package1": ".../path/to/package1", | ||
| "package2": ".../path/to/package2", | ||
| ... | ||
| } | ||
| ``` | ||
| ##### urdf | ||
| _required_ | ||
@@ -89,4 +102,31 @@ | ||
| Corresponds to the `package` parameter in `URDFLoader.load`. | ||
| Corresponds to the `package` parameter in `URDFLoader.load`. Supported are: | ||
| 1. Single package: | ||
| ```html | ||
| // 1. Example for single package named `default_package` | ||
| <urdf-viewer package=".../path/to/default_package" ...></urdf-viewer> | ||
| ``` | ||
| Fallback within 1: If the target package within the `package://` relative files do not match the default path it is assumed that the default path is the parent folder that contains the target package(s). | ||
| ```html | ||
| // 1. Example for single package named `default_package` with fallback: | ||
| <urdf-viewer package=".../path/to/parent" ...></urdf-viewer> | ||
| // since `parent` does not match `default_package` | ||
| // the path ".../path/to/parent/default_package" is assumed | ||
| ``` | ||
| 2. Serialized package map: | ||
| E.g. if the meshes of a URDF are distributed over mutliple packages. | ||
| ```html | ||
| // 2. Example for serialized package map that contains `package1` and `package2` | ||
| <urdf-viewer package="package1:.../path/to/package1, package2:.../path/to/package1" ...></urdf-viewer> | ||
| ``` | ||
| #### urdf | ||
@@ -93,0 +133,0 @@ |
@@ -261,3 +261,3 @@ /* globals URDFViewer THREE */ | ||
| let hovered = null; | ||
| el.addEventListener('mousemove', e => { | ||
| this._mouseMoveFunc = e => { | ||
@@ -340,6 +340,6 @@ toMouseCoord(e, mouse); | ||
| }, true); | ||
| }; | ||
| // Clean up | ||
| el.addEventListener('mouseup', e => { | ||
| this._mouseUpFunc = e => { | ||
@@ -354,6 +354,22 @@ if (dragging) { | ||
| }); | ||
| }; | ||
| } | ||
| connectedCallback() { | ||
| super.connectedCallback(); | ||
| window.addEventListener('mousemove', this._mouseMoveFunc, true); | ||
| window.addEventListener('mouseup', this._mouseUpFunc, true); | ||
| } | ||
| disconnectedCallback() { | ||
| super.disconnectedCallback(); | ||
| window.removeEventListener('mousemove', this._mouseMoveFunc, true); | ||
| window.removeEventListener('mouseup', this._mouseUpFunc, true); | ||
| } | ||
| attributeChangedCallback(attr, oldval, newval) { | ||
@@ -360,0 +376,0 @@ |
@@ -66,2 +66,3 @@ /* globals THREE URDFLoader */ | ||
| this._dirty = false; | ||
| this._loadScheduled = false; | ||
| this.robot = null; | ||
@@ -215,3 +216,3 @@ | ||
| this._loadUrdf(this.package, this.urdf); | ||
| this._scheduleLoad(); | ||
| break; | ||
@@ -337,25 +338,39 @@ | ||
| // Watch the package and urdf field and load the | ||
| _loadUrdf(pkg, urdf) { | ||
| _scheduleLoad() { | ||
| const _dispose = item => { | ||
| // if our current model is already what's being requested | ||
| // or has been loaded then early out | ||
| if (this._prevload === `${ this.package }|${ this.urdf }`) return; | ||
| this._prevload = `${ this.package }|${ this.urdf }`; | ||
| if (!item) return; | ||
| if (item.parent) item.parent.remove(item); | ||
| if (item.dispose) item.dispose(); | ||
| item.children.forEach(c => _dispose(c)); | ||
| // if we're already waiting on a load then early out | ||
| if (this._loadScheduled) return; | ||
| this._loadScheduled = true; | ||
| }; | ||
| if (this.robot) { | ||
| if (this._prevload === `${ pkg }|${ urdf }`) return; | ||
| this.robot.traverse(c => c.dispose && c.dispose()); | ||
| this.robot.parent.remove(this.robot); | ||
| this.robot = null; | ||
| _dispose(this.robot); | ||
| this.robot = null; | ||
| } | ||
| requestAnimationFrame(() => { | ||
| this._loadUrdf(this.package, this.urdf); | ||
| this._loadScheduled = false; | ||
| }); | ||
| } | ||
| // Watch the package and urdf field and load the robot model. | ||
| // This should _only_ be called from _scheduleLoad because that | ||
| // ensures the that current robot has been removed | ||
| _loadUrdf(pkg, urdf) { | ||
| this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true })); | ||
| if (pkg && urdf) { | ||
| if (urdf) { | ||
| this._prevload = `${ pkg }|${ urdf }`; | ||
| // Keep track of this request and make | ||
@@ -411,2 +426,20 @@ // sure it doesn't get overwritten by | ||
| let meshesLoaded = 0; | ||
| if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') { | ||
| // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"} | ||
| // Convert pkg(s) into a map. E.g. | ||
| // { "pkg_name": "path/to/pkg_name", | ||
| // "pk2": "path2/to/pk2" } | ||
| pkg = pkg.split(',').reduce(function(map, value) { | ||
| const [pkgName, pkgPath] = value.split(/:(.+)/).filter(x => !!x); | ||
| map[pkgName.trim()] = pkgPath.trim(); | ||
| return map; | ||
| }, {}); | ||
| } | ||
| this.urdfLoader.load( | ||
@@ -423,3 +456,3 @@ pkg, | ||
| _dispose(robot); | ||
| robot.traverse(c => c.dispose && c.dispose()); | ||
| return; | ||
@@ -429,3 +462,3 @@ | ||
| requestAnimationFrame(() => updateMaterials(robot)); | ||
| updateMaterials(robot); | ||
@@ -439,2 +472,4 @@ this.robot = robot; | ||
| this._dirty = true; | ||
| }, | ||
@@ -441,0 +476,0 @@ |
@@ -90,4 +90,4 @@ /* globals THREE */ | ||
| /* Public API */ | ||
| // pkg: The equivelant of a ROS package:// directory | ||
| // urdf: The URDF path in the directory | ||
| // pkg: The equivelant of a (list of) ROS package(s):// directory | ||
| // urdf: The path to the URDF within the package OR absolute | ||
| // cb: Callback that is passed the model once loaded | ||
@@ -98,3 +98,6 @@ load(pkg, urdf, cb, loadMeshCb, fetchOptions) { | ||
| // prepending the package info | ||
| let path = urdf; | ||
| // If path is relative | ||
| if (!/^[^:]+:\/\//.test(path)) { | ||
@@ -148,2 +151,40 @@ | ||
| /* Private Functions */ | ||
| // Resolves the path of mesh files | ||
| _resolveMeshPath(pkg, meshPath) { | ||
| if (!/^package:\/\//.test(meshPath)) return meshPath; | ||
| // Remove "package://" keyword and split meshPath at the first slash | ||
| const [targetPkg, relPath] = meshPath.replace(/^package:\/\//, '').split(/\/(.+)/); | ||
| if (typeof pkg === 'string') { | ||
| // "pkg" is one single package | ||
| if (pkg.endsWith(targetPkg)) { | ||
| // "pkg" is the target package | ||
| return pkg + '/' + relPath; | ||
| } else { | ||
| // Assume "pkg" is the target package's parent directory | ||
| return pkg + '/' + targetPkg + '/' + relPath; | ||
| } | ||
| } else if (typeof pkg === 'object') { | ||
| // "pkg" is a map of packages | ||
| if (targetPkg in pkg) { | ||
| return pkg[targetPkg] + '/' + relPath; | ||
| } else { | ||
| console.warn(`Error: ${ targetPkg } not found in provided pkgs!`); | ||
| } | ||
| } | ||
| } | ||
| // Process the URDF text format | ||
@@ -371,2 +412,3 @@ _processUrdf(pkg, data, loadMeshCb) { | ||
| const material = new THREE.MeshPhongMaterial(); | ||
| let primitiveModel = null; | ||
| this.forEach(vn.children, n => { | ||
@@ -380,4 +422,4 @@ | ||
| const filename = n.children[0].getAttribute('filename').replace(/^package:\/\//, ''); | ||
| const path = pkg + '/' + filename; | ||
| const filename = n.children[0].getAttribute('filename'); | ||
| const path = this._resolveMeshPath(pkg, filename); | ||
| const ext = path.match(/.*\.([A-Z0-9]+)$/i).pop() || ''; | ||
@@ -410,58 +452,40 @@ const scaleAttr = n.children[0].getAttribute('scale'); | ||
| // TODO: We use animation frames here to ensure that materials are | ||
| // appropriately applied. It would be better to scrape up all the data | ||
| // before adding it to the scene | ||
| requestAnimationFrame(() => { | ||
| primitiveModel = new THREE.Mesh(); | ||
| primitiveModel.geometry = new THREE.BoxGeometry(1, 1, 1); | ||
| primitiveModel.material = material; | ||
| const mesh = new THREE.Mesh(); | ||
| mesh.geometry = new THREE.BoxGeometry(1, 1, 1); | ||
| mesh.material = material; | ||
| const size = this._processTuple(n.children[0].getAttribute('size')); | ||
| const size = this._processTuple(n.children[0].getAttribute('size')); | ||
| linkObj.add(primitiveModel); | ||
| primitiveModel.scale.set(size[0], size[1], size[2]); | ||
| linkObj.add(mesh); | ||
| this._applyRotation(mesh, rpy); | ||
| mesh.position.set(xyz[0], xyz[1], xyz[2]); | ||
| mesh.scale.set(size[0], size[1], size[2]); | ||
| }); | ||
| } else if (geoType === 'sphere') { | ||
| requestAnimationFrame(() => { | ||
| primitiveModel = new THREE.Mesh(); | ||
| primitiveModel.geometry = new THREE.SphereGeometry(1, 30, 30); | ||
| primitiveModel.material = material; | ||
| const mesh = new THREE.Mesh(); | ||
| mesh.geometry = new THREE.SphereGeometry(1, 30, 30); | ||
| mesh.material = material; | ||
| const radius = parseFloat(n.children[0].getAttribute('radius')) || 0; | ||
| primitiveModel.scale.set(radius, radius, radius); | ||
| const radius = parseFloat(n.children[0].getAttribute('radius')) || 0; | ||
| mesh.position.set(xyz[0], xyz[1], xyz[2]); | ||
| mesh.scale.set(radius, radius, radius); | ||
| linkObj.add(primitiveModel); | ||
| linkObj.add(mesh); | ||
| }); | ||
| } else if (geoType === 'cylinder') { | ||
| requestAnimationFrame(() => { | ||
| const radius = parseFloat(n.children[0].getAttribute('radius')) || 0; | ||
| const length = parseFloat(n.children[0].getAttribute('length')) || 0; | ||
| const radius = parseFloat(n.children[0].getAttribute('radius')) || 0; | ||
| const length = parseFloat(n.children[0].getAttribute('length')) || 0; | ||
| primitiveModel = new THREE.Object3D(); | ||
| const mesh = new THREE.Mesh(); | ||
| mesh.geometry = new THREE.CylinderBufferGeometry(1, 1, 1, 30); | ||
| mesh.material = material; | ||
| mesh.scale.set(radius, length, radius); | ||
| const mesh = new THREE.Mesh(); | ||
| mesh.geometry = new THREE.CylinderBufferGeometry(1, 1, 1, 30); | ||
| mesh.material = material; | ||
| mesh.scale.set(radius, length, radius); | ||
| primitiveModel.add(mesh); | ||
| mesh.rotation.set(Math.PI / 2, 0, 0); | ||
| const obj = new THREE.Object3D(); | ||
| obj.add(mesh); | ||
| mesh.rotation.set(Math.PI / 2, 0, 0); | ||
| linkObj.add(primitiveModel); | ||
| this._applyRotation(primitiveModel, rpy); | ||
| primitiveModel.position.set(xyz[0], xyz[1], xyz[2]); | ||
| linkObj.add(obj); | ||
| this._applyRotation(obj, rpy); | ||
| obj.position.set(xyz[0], xyz[1], xyz[2]); | ||
| }); | ||
| } | ||
@@ -505,4 +529,14 @@ | ||
| // apply the position and rotation to the primitive geometry after | ||
| // the fact because it's guaranteed to have been scraped from the child | ||
| // nodes by this point | ||
| if (primitiveModel) { | ||
| this._applyRotation(primitiveModel, rpy); | ||
| primitiveModel.position.set(xyz[0], xyz[1], xyz[2]); | ||
| } | ||
| } | ||
| }; |
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Found 1 instance in 1 package
Fixed alerts
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Improved metrics
- Total package byte prevSize
- increased by5.27%
2746211
- Number of package files
- increased by30.77%
17
- Lines of code
- increased by13.34%
7911
- Number of lines in readme file
- increased by22.1%
221
No dependency changes