urdf-loader - npm Package Compare versions

Comparing version 0.3.5 to 0.4.0

CHANGELOG.md

@@ -7,2 +7,19 @@ # Changelog
 
+## Unreleased
+### Changed
+- Add "path" variable to parse function signature
+- URDF paths are no longer resolved relative to the package path
+- `parse` function signature changed
+- `parse` returns the robot now
+- `meshLoadCb` and `fetchOptions` have been moved into an `options` argument object
+- Moved all fields from `Object3D.urdf` to the object itself
+- Changed `type` to `jointType`
+
+### Added
+- Add `isURDFRobot`, `isURDFJoint`, `isURDFLink` fields to the robot, joints, and links
+- Set the `type` field of the `Object3D` to `URDFRobot`, `URDFJoint`, and `URDFLink`
+
+### Removed
+- `node` field from the urdf info on joints, links, and the robot
+
 ## [0.3.5] - 2018-08-07
@@ -9,0 +26,0 @@ ### Added

example/index.js

@@ -1,2 +0,2 @@
-/* globals animToggle viewer THREE */
+/* globals viewer THREE */
 
@@ -7,3 +7,2 @@ // declare these globally for the sake of the example.
 viewer = document.querySelector('urdf-viewer');
-animToggle = document.getElementById('do-animate');
 
@@ -15,3 +14,3 @@ const limitsToggle = document.getElementById('ignore-joint-limits');
 const controlsToggle = document.getElementById('toggle-controls');
-const DEG2RAD = Math.PI / 180;
+var DEG2RAD = Math.PI / 180;
 const RAD2DEG = 1 / DEG2RAD;
@@ -28,48 +27,4 @@ let sliders = {};
 
-// Functions
-const lerp = (from, to, ratio) => from + (to - from) * ratio;
-
-const updateAngles = () => {
-
-    if (!viewer.setAngle) return;
-
-    // reset everything to 0 first
-    const resetangles = viewer.angles;
-    for (const name in resetangles) resetangles[name] = 0;
-    viewer.setAngles(resetangles);
-
-    // animate the legs
-    const time = Date.now() / 3e2;
-    for (let i = 1; i <= 6; i++) {
-
-        const offset = i * Math.PI / 3;
-        const ratio = Math.max(0, Math.sin(time + offset));
-
-        viewer.setAngle(`HP${ i }`, lerp(30, 0, ratio) * DEG2RAD);
-        viewer.setAngle(`KP${ i }`, lerp(90, 150, ratio) * DEG2RAD);
-        viewer.setAngle(`AP${ i }`, lerp(-30, -60, ratio) * DEG2RAD);
-
-        viewer.setAngle(`TC${ i }A`, lerp(0, 0.065, ratio));
-        viewer.setAngle(`TC${ i }B`, lerp(0, 0.065, ratio));
-
-        viewer.setAngle(`W${ i }`, window.performance.now() * 0.001);
-
-    }
-
-};
-
-const updateLoop = () => {
-
-    if (animToggle.classList.contains('checked')) {
-        updateAngles();
-    }
-
-    requestAnimationFrame(updateLoop);
-
-};
-
 // Events
 // toggle checkbox
-animToggle.addEventListener('click', () => animToggle.classList.toggle('checked'));
-
 limitsToggle.addEventListener('click', () => {
@@ -124,4 +79,2 @@ limitsToggle.classList.toggle('checked');
 
-    // stop the animation if user tried to manipulate the model
-    animToggle.classList.remove('checked');
     const j = document.querySelector(`li[joint-name="${ e.detail }"]`);
@@ -140,3 +93,3 @@ if (j) {
     Object
-        .keys(r.urdf.joints)
+        .keys(r.joints)
         .sort((a, b) => {
@@ -157,3 +110,3 @@
         })
-        .map(key => r.urdf.joints[key])
+        .map(key => r.joints[key])
         .forEach(joint => {
@@ -164,8 +117,8 @@
             `
-            <span title="${ joint.urdf.name }">${ joint.urdf.name }</span>
+            <span title="${ joint.name }">${ joint.name }</span>
             <input type="range" value="0" step="0.0001"/>
             <input type="number" step="0.0001" />
             `;
-            li.setAttribute('joint-type', joint.urdf.type);
-            li.setAttribute('joint-name', joint.urdf.name);
+            li.setAttribute('joint-type', joint.jointType);
+            li.setAttribute('joint-name', joint.name);
 
@@ -178,5 +131,5 @@ sliderList.appendChild(li);
             li.update = () => {
-                let degVal = joint.urdf.angle;
+                let degVal = joint.angle;
 
-                if (joint.urdf.type === 'revolute' || joint.urdf.type === 'continuous') {
+                if (joint.jointType === 'revolute' || joint.jointType === 'continuous') {
                     degVal *= RAD2DEG;
@@ -194,5 +147,5 @@ }
                 // directly input the value
-                slider.value = joint.urdf.angle;
+                slider.value = joint.angle;
 
-                if (viewer.ignoreLimits || joint.urdf.type === 'continuous') {
+                if (viewer.ignoreLimits || joint.jointType === 'continuous') {
                     slider.min = -6.28;
@@ -204,11 +157,11 @@ slider.max = 6.28;
                 } else {
-                    slider.min = joint.urdf.limit.lower;
-                    slider.max = joint.urdf.limit.upper;
+                    slider.min = joint.limit.lower;
+                    slider.max = joint.limit.upper;
 
-                    input.min = joint.urdf.limit.lower * RAD2DEG;
-                    input.max = joint.urdf.limit.upper * RAD2DEG;
+                    input.min = joint.limit.lower * RAD2DEG;
+                    input.max = joint.limit.upper * RAD2DEG;
                 }
             };
 
-            switch (joint.urdf.type) {
+            switch (joint.jointType) {
 
@@ -251,3 +204,2 @@ case 'continuous':
 
-    viewer.addEventListener('urdf-processed', e => updateAngles());
     document.querySelector('li[urdf]').dispatchEvent(new Event('click'));
@@ -259,3 +211,2 @@
 
-    updateLoop();
 });

package.json

 {
   "name": "urdf-loader",
-  "version": "0.3.5",
+  "version": "0.4.0",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
   "scripts": {
     "start": "cd .. && static-server",
-    "build": "cd example && webpack"
+    "build": "cd example && webpack",
+    "test": "jest",
+    "lint": "eslint *.js ./test/*.js",
+    "coverage": "nyc report --reporter=html & opn coverage/index.html"
   },
+  "files": [
+    "URDFLoader.js",
+    "urdf-viewer-element.js",
+    "urdf-manipulator-element.js",
+    "example/index.js",
+    "example/dragAndDrop.js"
+  ],
   "license": "Apache-2.0",
@@ -32,2 +42,9 @@ "repository": {
     "@webcomponents/webcomponentsjs": "^2.0.0",
+    "eslint": "^5.3.0",
+    "jest": "^23.5.0",
+    "jest-cli": "^23.5.0",
+    "nyc": "^12.0.2",
+    "opn-cli": "^3.1.0",
+    "puppeteer": "^1.7.0",
+    "puppeteer-to-istanbul": "^1.2.2",
     "script-loader": "^0.7.0",
@@ -34,0 +51,0 @@ "static-server": "^3.0.0",

README.md

@@ -1,3 +0,13 @@
-# javascript urdf-loader [![npm version](https://badge.fury.io/js/urdf-loader.svg)](https://www.npmjs.com/package/urdf-loader)
+# javascript urdf-loader
 
+[
+    ![npm version](https://img.shields.io/npm/v/urdf-loader.svg?style=flat-square)
+](https://www.npmjs.com/package/urdf-loader)
+[
+    ![travis build](https://img.shields.io/travis/gkjohnson/urdf-loaders.svg?style=flat-square)
+](https://travis-ci.org/gkjohnson/urdf-loaders)
+[
+    ![lgtm code quality](https://img.shields.io/lgtm/grade/javascript/g/gkjohnson/urdf-loaders.svg?style=flat-square&label=code-quality)
+](https://lgtm.com/projects/g/gkjohnson/urdf-loaders/)
+
 Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.
@@ -9,3 +19,3 @@
 
-## URDFLoader
+## Use
 ```html
@@ -29,22 +39,30 @@ <script src=".../URDFLoader.js"></script>
 
-### API
-#### URDFLoader(manager)
+## URDFLoader API
+### constructor(manager)
 
 Constructor
 
-##### manager
+#### manager : THREE.LoadingManager
 
 THREE.LoadingManager. Used for transforming load URLs.
 
-#### URDFLoader.load(package, urdfpath, robotsCallback, geometryLoader, fetchOptions)
+### load(urdfpath, packages, onComplete, options)
 
 Loads and builds the specified URDF robot in THREE.js
 
-##### package
+#### urdfpath : String
 
 _required_
 
+The path to the URDF file relative to the specified package directory.
+
+#### packages : String | Object
+
+_required_
+
 The path representing the `package://` directory(s) to load `package://` relative files.
 
-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:
+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 is used defining the package name to the package path:
 ```js
@@ -58,30 +76,116 @@ {
 
-##### urdf
+#### onComplete(robot) : Function
 
 _required_
 
-The path to the URDF file relative to the specified package directory.
+Callback that is called once the urdf robots have been loaded. The loaded robot is passed to the function.
 
-##### robotCallback(robot)
+See `URDFRobot` documentation.
 
+#### options : Object
+
+_optional_
+
+##### options.loadMeshCallback(pathToModel, fileExtension, onComplete) : Function
+
+An optional function that can be used to override the default mesh loading functionality. The default loader is specified at `URDFLoader.defaultMeshLoader`. `onComplete` is called with the mesh once the geometry has been loaded.
+
+##### options.fetchOptions : Object
+
+An optional object with the set of options to pass to the `fetch` function call used to load the URDF file.
+
+##### workingPath : String
+
+The path to load geometry relative to.
+
+Defaults to the path relative to the loaded URDF file.
+
+### parse(urdfContent, packages, onComplete, options) : THREE.Object3D
+
+Parses URDF content and returns the robot model.
+
+#### urdfContent : String
+
 _required_
 
-Callback that is called once the urdf robots have been loaded. The loaded robot is passed to the function.
+The xml content of a URDF file.
 
-The available joints are specified on `robot.urdf.joints`.
+#### packages : String | Object
 
-To set a joint angle, call `robot.urdf.joint.setAngle(angle)`.
+_required_
 
-##### geometryLoader(pathToModel, fileExtension, doneCallback)
+See `load`.
 
+#### onComplete(robot) : Function
+
 _optional_
 
-An optional function that can be used to override the default mesh loading functionality. The default loader is specified at `URDFLoader.defaultMeshLoader`. `doneCallback` is called with the mesh once the geometry has been loaded.
+Called immediately with the generated robot. This is the same object that is returned from the function.
 
-##### fetchOptions
+Note that the link geometry will not necessarily have finished being processed when this is called.
 
-_optional_
+See `URDFRobot` documentation.
 
-An optional object with the set of options to pass to the `fetch` function call used to load the URDF file.
+#### options : Object
 
+See `load`.
+
+## URDFRobot
+
+Object that describes the URDF Robot. An extension of `THREE.Object3D`.
+
+### name : String
+
+The name of the robot described in the `<robot>` tag.
+
+### links : Object
+
+A dictionary of `linkName : URDFLink` with all links in the robot.
+
+### joints : Object
+
+A dictionary of `jointName : URDFJoint` with all joints in the robot.
+
+## URDFJoint
+
+An object representing a robot joint. An extension of `THREE.Object3D`.
+
+### name : String
+
+The name of the joint.
+
+### jointType : String
+
+The type of joint. Can only be the URDF types of joints.
+
+### limit : Object
+
+An object containing the `lower` and `upper` constraints for the joint.
+
+### axis : THREE.Vector3
+
+The axis described for the joint.
+
+### angle : Number
+
+_readonly_
+
+The current position or angle for joint.
+
+### ignoreLimits : Boolean
+
+Whether or not to ignore the joint limits when setting a the joint position.
+
+### setAngle(angle) | setOffset(position)
+
+#### angle | position : Number
+
+The position off of the starting position to rotate or move the joint to.
+
+### URDFLink
+
+#### name
+
+The name of the link.
+
 ## urdf-viewer Element
@@ -129,4 +233,2 @@ ```html
 
-
-
 #### urdf
@@ -133,0 +235,0 @@

urdf-manipulator-element.js

@@ -79,3 +79,3 @@ /* globals URDFViewer THREE */
 
-            return j.urdf && j.urdf.type && j.urdf.type !== 'fixed';
+            return j.isURDFJoint && j.jointType !== 'fixed';
 
@@ -153,3 +153,3 @@ };
             // TODO: Why is the constant negated?
-            plane.normal.copy(tg.urdf.axis).transformDirection(tg.matrixWorld).normalize();
+            plane.normal.copy(tg.axis).transformDirection(tg.matrixWorld).normalize();
             plane.constant = -plane.normal.dot(clickPoint);
@@ -230,3 +230,3 @@
 
-            plane.normal.copy(tg.urdf.axis).transformDirection(tg.parent.matrixWorld).normalize();
+            plane.normal.copy(tg.axis).transformDirection(tg.parent.matrixWorld).normalize();
 
@@ -254,3 +254,3 @@ return temp.length() * -Math.sign(temp.dot(plane.normal));
                     clickPoint.copy(target.point);
-                    this.dispatchEvent(new CustomEvent('manipulate-start', { bubbles: true, cancelable: true, detail: dragging.urdf.name }));
+                    this.dispatchEvent(new CustomEvent('manipulate-start', { bubbles: true, cancelable: true, detail: dragging.name }));
                     this.controls.enabled = false;
@@ -300,3 +300,3 @@
                     highlightLinkGeometry(wasHovered, true);
-                    this.dispatchEvent(new CustomEvent('joint-mouseout', { bubbles: true, cancelable: true, detail: wasHovered.urdf.name }));
+                    this.dispatchEvent(new CustomEvent('joint-mouseout', { bubbles: true, cancelable: true, detail: wasHovered.name }));
 
@@ -308,3 +308,3 @@ }
                     highlightLinkGeometry(hovered, false);
-                    this.dispatchEvent(new CustomEvent('joint-mouseover', { bubbles: true, cancelable: true, detail: hovered.urdf.name }));
+                    this.dispatchEvent(new CustomEvent('joint-mouseover', { bubbles: true, cancelable: true, detail: hovered.name }));
 
@@ -321,7 +321,7 @@ }
                 let delta = null;
-                if (dragging.urdf.type === 'revolute' || dragging.urdf.type === 'continuous') {
+                if (dragging.jointType === 'revolute' || dragging.jointType === 'continuous') {
 
                     delta = getAngle(dragging, mouse, lastMouse);
 
-                } else if (dragging.urdf.type === 'prismatic') {
+                } else if (dragging.jointType === 'prismatic') {
 
@@ -338,3 +338,3 @@ delta = getMove(dragging, mouse, lastMouse);
 
-                    this.setAngle(dragging.urdf.name, dragging.urdf.angle + delta);
+                    this.setAngle(dragging.name, dragging.angle + delta);
 
@@ -354,3 +354,3 @@ }
 
-                this.dispatchEvent(new CustomEvent('manipulate-end', { bubbles: true, cancelable: true, detail: dragging.urdf.name }));
+                this.dispatchEvent(new CustomEvent('manipulate-end', { bubbles: true, cancelable: true, detail: dragging.name }));
                 dragging = null;
@@ -357,0 +357,0 @@ this.controls.enabled = true;

urdf-viewer-element.js

@@ -50,3 +50,3 @@ /* globals THREE URDFLoader */
 
-            for (const name in this.robot.urdf.joints) angles[name] = this.robot.urdf.joints[name].urdf.angle;
+            for (const name in this.robot.joints) angles[name] = this.robot.joints[name].angle;
 
@@ -84,3 +84,2 @@ }
         dirLight.shadow.mapSize.height = 2048;
-        dirLight.shadow.bias = -0.000025;
         dirLight.castShadow = true;
@@ -95,2 +94,3 @@ scene.add(dirLight);
         renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
         renderer.gammaOutput = true;
@@ -137,2 +137,4 @@
 
+        this._setUp(this.up);
+
         // redraw when something new has loaded
@@ -284,6 +286,6 @@ this.loadingManager.onLoad = () => this._dirty = true;
 
-        const joint = this.robot.urdf.joints[jointname];
-        if (joint && joint.urdf.angle !== angle) {
+        const joint = this.robot.joints[jointname];
+        if (joint && joint.angle !== angle) {
 
-            joint.urdf.setAngle(angle);
+            joint.setAngle(angle);
             this._dirty = true;
@@ -436,6 +438,8 @@
 
-                pkg = pkg.split(',').reduce(function(map, value) {
+                pkg = pkg.split(',').reduce((map, value) => {
 
-                    const [pkgName, pkgPath] = value.split(/:(.+)/).filter(x => !!x);
-                    map[pkgName.trim()] = pkgPath.trim();
+                    const split = value.split(/:/).filter(x => !!x);
+                    const pkgName = split.shift().trim();
+                    const pkgPath = split.join(':').trim();
+                    map[pkgName] = pkgPath;
 
@@ -448,4 +452,4 @@ return map;
             this.urdfLoader.load(
+                urdf,
                 pkg,
-                urdf,
 
@@ -477,26 +481,31 @@ // Callback with array of robots
 
-                // Load meshes and enable shadow casting
-                (path, ext, done) => {
+                // options
+                {
+                    loadMeshCb: (path, ext, done) => {
 
-                    totalMeshes++;
-                    this.urdfLoader.defaultMeshLoader(path, ext, mesh => {
+                        // Load meshes and enable shadow casting
+                        totalMeshes++;
+                        this.urdfLoader.defaultMeshLoader(path, ext, mesh => {
 
-                        updateMaterials(mesh);
+                            updateMaterials(mesh);
 
-                        done(mesh);
+                            done(mesh);
 
-                        meshesLoaded++;
-                        if (meshesLoaded === totalMeshes && this._requestId === requestId) {
+                            meshesLoaded++;
+                            if (meshesLoaded === totalMeshes && this._requestId === requestId) {
 
-                            this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
+                                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
 
-                        }
+                            }
 
-                        this._dirty = true;
+                            this._dirty = true;
 
-                    });
+                        });
 
-                },
-                { mode: 'cors', credentials: 'same-origin' });
+                    },
 
+                    fetchOptions: { mode: 'cors', credentials: 'same-origin' },
+
+                });
+
         }
@@ -530,7 +539,7 @@
             Object
-                .values(this.robot.urdf.joints)
+                .values(this.robot.joints)
                 .forEach(joint => {
 
-                    joint.urdf.ignoreLimits = ignore;
-                    joint.urdf.setAngle(joint.urdf.angle);
+                    joint.ignoreLimits = ignore;
+                    joint.setAngle(joint.angle);
 
@@ -537,0 +546,0 @@ });

URDFLoader.js

@@ -90,33 +90,39 @@ /* globals THREE */
     /* Public API */
-    // 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
-    load(pkg, urdf, cb, loadMeshCb, fetchOptions) {
+    // packages:     The equivelant of a (list of) ROS package(s):// directory
+    // onComplete:      Callback that is passed the model once loaded
+    load(urdf, packages, onComplete, options) {
 
         // Check if a full URI is specified before
         // prepending the package info
+        const workingPath = THREE.LoaderUtils.extractUrlBase(urdf);
+        const urdfPath = this.manager.resolveURL(urdf);
 
-        let path = urdf;
+        options = Object.assign({ workingPath }, options);
 
-        // If path is relative
-        if (!/^[^:]+:\/\//.test(path)) {
+        fetch(urdfPath, options.fetchOptions)
+            .then(res => res.text())
+            .then(data => this.parse(data, packages, onComplete, options));
 
-            // make sure we don't insert a double slash by cleaning
-            // the package and urdf paths
-            path = `${ pkg.replace(/(\\|\/)$/, '') }/${ urdf.replace(/^(\\|\/)/, '') }`;
+    }
 
-        }
+    parse(content, packages, onComplete, options) {
 
-        path = this.manager.resolveURL(path);
+        options = Object.assign({
 
-        fetch(path, fetchOptions)
-            .then(res => res.text())
-            .then(data => this.parse(pkg, data, cb, loadMeshCb));
+            loadMeshCb: this.defaultMeshLoader.bind(this),
+            workingPath: '',
 
-    }
+        }, options);
 
-    parse(pkg, content, cb, loadMeshCb) {
+        const result = this._processUrdf(content, packages, options.workingPath, options.loadMeshCb);
 
-        cb(this._processUrdf(pkg, content, loadMeshCb || this.defaultMeshLoader.bind(this)));
+        if (typeof onComplete === 'function') {
 
+            onComplete(result);
+
+        }
+
+        return result;
+
     }
@@ -143,3 +149,3 @@
 
-            console.warn(`Could note load model at ${ path }:\nNo loader available`);
+            console.warn(`URDFLoader: Could not load model at ${ path }.\nNo loader available`);
 
@@ -153,6 +159,10 @@ }
     // Resolves the path of mesh files
-    _resolveMeshPath(pkg, meshPath) {
+    _resolvePackagePath(pkg, meshPath, currPath) {
 
-        if (!/^package:\/\//.test(meshPath)) return meshPath;
+        if (!/^package:\/\//.test(meshPath)) {
 
+            return currPath !== undefined ? currPath + meshPath : meshPath;
+
+        }
+
         // Remove "package://" keyword and split meshPath at the first slash
@@ -162,18 +172,19 @@ const [targetPkg, relPath] = meshPath.replace(/^package:\/\//, '').split(/\/(.+)/);
         if (typeof pkg === 'string') {
+
             // "pkg" is one single package
+            if (pkg.endsWith(targetPkg)) {
 
-            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;
 
-                return pkg + '/' + targetPkg + '/' + relPath;
             }
 
         } else if (typeof pkg === 'object') {
+
             // "pkg" is a map of packages
-
             if (targetPkg in pkg) {
@@ -185,3 +196,4 @@
 
-                console.warn(`Error: ${ targetPkg } not found in provided pkgs!`);
+                console.error(`URDFLoader : ${ targetPkg } not found in provided package list!`);
+                return null;
 
@@ -193,3 +205,3 @@ }
     // Process the URDF text format
-    _processUrdf(pkg, data, loadMeshCb) {
+    _processUrdf(data, packages, path, loadMeshCb) {
 
@@ -200,3 +212,3 @@ const parser = new DOMParser();
         const robottag = this.filter(urdf.children, c => c.nodeName === 'robot').pop();
-        return this._processRobot(pkg, robottag, loadMeshCb);
+        return this._processRobot(robottag, packages, path, loadMeshCb);
 
@@ -206,3 +218,3 @@ }
     // Process the <robot> node
-    _processRobot(pkg, robot, loadMeshCb) {
+    _processRobot(robot, packages, path, loadMeshCb) {
 
@@ -213,3 +225,2 @@ const links = [];
         obj.name = robot.getAttribute('name');
-        obj.urdf = { node: robot };
 
@@ -230,3 +241,3 @@ // Process the <joint> and <link> nodes
             const name = l.getAttribute('name');
-            linkMap[name] = this._processLink(pkg, l, loadMeshCb);
+            linkMap[name] = this._processLink(l, packages, path, loadMeshCb);
 
@@ -254,4 +265,6 @@ });
 
-        obj.urdf.joints = jointMap;
-        obj.urdf.links = linkMap;
+        obj.joints = jointMap;
+        obj.links = linkMap;
+        obj.isURDFRobot = true;
+        obj.type = 'URDFRobot';
 
@@ -267,14 +280,25 @@ return obj;
         const obj = new THREE.Object3D();
+        obj.isURDFJoint = true;
+        obj.type = 'URDFJoint';
+
         obj.name = joint.getAttribute('name');
-        obj.urdf = {
-            node: joint,
-            name: joint.getAttribute('name'),
-            type: jointType,
-            angle: 0,
-            axis: null,
-            limit: { lower: 0, upper: 0 },
-            ignoreLimits: false,
-            setAngle: () => {},
-        };
+        obj.jointType = jointType;
+        obj.axis = null;
+        obj.angle = 0;
+        obj.limit = { lower: 0, upper: 0 };
+        obj.ignoreLimits = false;
+        obj.setOffset = () => {};
 
+        // copy the 'setOffset' function over to 'setAngle' so
+        // it makes sense for other joint types (prismatic, planar)
+        // TODO: Remove the 'setOffset' function
+        // TODO: Figure out how to handle setting and getting angles of other types
+        Object.defineProperties(
+            obj,
+            {
+
+                setAngle: { get() { return this.setOffset; } },
+
+            });
+
         let parent = null;
@@ -304,4 +328,4 @@ let child = null;
 
-                obj.urdf.limit.lower = parseFloat(n.getAttribute('lower') || obj.urdf.limit.lower);
-                obj.urdf.limit.upper = parseFloat(n.getAttribute('upper') || obj.urdf.limit.upper);
+                obj.limit.lower = parseFloat(n.getAttribute('lower') || obj.limit.lower);
+                obj.limit.upper = parseFloat(n.getAttribute('upper') || obj.limit.upper);
 
@@ -326,4 +350,4 @@ }
             const axisxyz = axisnode.getAttribute('xyz').split(/\s+/g).map(num => parseFloat(num));
-            obj.urdf.axis = new THREE.Vector3(axisxyz[0], axisxyz[1], axisxyz[2]);
-            obj.urdf.axis.normalize();
+            obj.axis = new THREE.Vector3(axisxyz[0], axisxyz[1], axisxyz[2]);
+            obj.axis.normalize();
 
@@ -336,8 +360,8 @@ }
             case 'continuous':
-                obj.urdf.limit.lower = -Infinity;
-                obj.urdf.limit.upper = Infinity;
+                obj.limit.lower = -Infinity;
+                obj.limit.upper = Infinity;
 
-                // fall through to revolute joint 'setAngle' function
+                // fall through to revolute joint 'setOffset' function
             case 'revolute':
-                obj.urdf.setAngle = function(angle = null) {
+                obj.setOffset = function(angle = null) {
 
@@ -365,3 +389,3 @@ if (!this.axis) return;
             case 'prismatic':
-                obj.urdf.setAngle = function(angle = null) {
+                obj.setOffset = function(angle = null) {
 
@@ -393,8 +417,2 @@ if (!this.axis) return;
 
-        // copy the 'setAngle' function over to 'set' so
-        // it makes sense for other joint types (prismatic, planar)
-        // TODO: Remove the 'setAngle' function
-        // TODO: Figure out how to handle setting and getting angles of other types
-        obj.urdf.set = obj.urdf.setAngle;
-
         return obj;
@@ -405,3 +423,3 @@
     // Process the <link> nodes
-    _processLink(pkg, link, loadMeshCb) {
+    _processLink(link, packages, path, loadMeshCb) {
 
@@ -411,5 +429,6 @@ const visualNodes = this.filter(link.children, n => n.nodeName.toLowerCase() === 'visual');
         obj.name = link.getAttribute('name');
-        obj.urdf = { node: link };
+        obj.isURDFLink = true;
+        obj.type = 'URDFLink';
 
-        this.forEach(visualNodes, vn => this._processVisualNode(pkg, vn, obj, loadMeshCb));
+        this.forEach(visualNodes, vn => this._processVisualNode(vn, obj, packages, path, loadMeshCb));
 
@@ -421,3 +440,3 @@ return obj;
     // Process the visual nodes into meshes
-    _processVisualNode(pkg, vn, linkObj, loadMeshCb) {
+    _processVisualNode(vn, linkObj, packages, path, loadMeshCb) {
 
@@ -439,28 +458,34 @@ let xyz = [0, 0, 0];
                     const filename = n.children[0].getAttribute('filename');
-                    const path = this._resolveMeshPath(pkg, filename);
-                    const ext = path.match(/.*\.([A-Z0-9]+)$/i).pop() || '';
-                    const scaleAttr = n.children[0].getAttribute('scale');
-                    if (scaleAttr) scale = this._processTuple(scaleAttr);
+                    const filePath = this._resolvePackagePath(packages, filename, path);
 
-                    loadMeshCb(path, ext, obj => {
+                    // file path is null if a package directory is not provided.
+                    if (filePath !== null) {
 
-                        if (obj) {
+                        const ext = filePath.match(/.*\.([A-Z0-9]+)$/i).pop() || '';
+                        const scaleAttr = n.children[0].getAttribute('scale');
+                        if (scaleAttr) scale = this._processTuple(scaleAttr);
 
-                            if (obj instanceof THREE.Mesh) {
+                        loadMeshCb(filePath, ext, obj => {
 
-                                obj.material.copy(material);
+                            if (obj) {
 
-                            }
+                                if (obj instanceof THREE.Mesh) {
 
-                            linkObj.add(obj);
+                                    obj.material.copy(material);
 
-                            obj.position.set(xyz[0], xyz[1], xyz[2]);
-                            obj.rotation.set(0, 0, 0);
-                            obj.scale.set(scale[0], scale[1], scale[2]);
-                            this._applyRotation(obj, rpy);
+                                }
 
-                        }
+                                linkObj.add(obj);
 
-                    });
+                                obj.position.set(xyz[0], xyz[1], xyz[2]);
+                                obj.rotation.set(0, 0, 0);
+                                obj.scale.set(scale[0], scale[1], scale[2]);
+                                this._applyRotation(obj, rpy);
 
+                            }
+
+                        });
+
+                    }
+
                 } else if (geoType === 'box') {
@@ -533,5 +558,6 @@
                         const filename = c.getAttribute('filename').replace(/^(package:\/\/)/, '');
-                        const path = pkg + '/' + filename;
-                        material.map = this._textureloader.load(path);
+                        const filePath = this._resolvePackagePath(packages, filename, path);
 
+                        material.map = this._textureloader.load(filePath);
+
                     }
@@ -538,0 +564,0 @@

New alerts

License Policy Violation

License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Major refactor

Supply chain risk

Package has recently undergone a major refactor. It may be unstable or indicate significant internal changes. Use caution when updating to versions that include significant changes.

Found 1 instance in 1 package

Fixed alerts

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License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Improved metrics

Number of lines in readme file

323

increased by46.15%

Worsened metrics

Total package byte prevSize

68236

decreased by-97.52%

Dev dependency count

14

increased by100%

Number of package files

8

decreased by-52.94%

Lines of code

1230

decreased by-84.45%

Number of medium supply chain risk alerts

2

increased by100%

No dependency changes