urdf-loader - npm Package Compare versions

Comparing version 0.9.4 to 0.9.5

CHANGELOG.md

@@ -7,3 +7,3 @@ # Changelog
 
-## [0.9.4] - 2021-01-26
+## [0.9.5] - 2021-01-26
 ### Added
@@ -10,0 +10,0 @@ - Support for "mimic" joints.

package.json

 {
   "name": "urdf-loader",
-  "version": "0.9.4",
+  "version": "0.9.5",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -5,0 +5,0 @@ "main": "umd/URDFLoader.js",

umd/urdf-manipulator-element.js

@@ -0,0 +0,0 @@ (function (global, factory) {

umd/urdf-viewer-element.js

@@ -0,0 +0,0 @@ (function (global, factory) {

umd/URDFLoader.js

@@ -125,2 +125,4 @@ (function (global, factory) {
 
+            this.mimicJoints = [];
+
         }
@@ -144,2 +146,4 @@
 
+            this.mimicJoints = [...source.mimicJoints];
+
             return this;
@@ -161,2 +165,10 @@
 
+            let didUpdate = false;
+
+            this.mimicJoints.forEach(joint => {
+
+                didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;
+
+            });
+
             switch (this.jointType) {
@@ -166,3 +178,3 @@
 
-                    return false;
+                    return didUpdate;
 
@@ -174,4 +186,4 @@ }
                     let angle = values[0];
-                    if (angle == null) return false;
-                    if (angle === this.jointValue[0]) return false;
+                    if (angle == null) return didUpdate;
+                    if (angle === this.jointValue[0]) return didUpdate;
 
@@ -197,3 +209,3 @@ if (!this.ignoreLimits && this.jointType === 'revolute') {
 
-                        return false;
+                        return didUpdate;
 
@@ -207,4 +219,4 @@ }
                     let pos = values[0];
-                    if (pos == null) return false;
-                    if (pos === this.jointValue[0]) return false;
+                    if (pos == null) return didUpdate;
+                    if (pos === this.jointValue[0]) return didUpdate;
 
@@ -229,3 +241,3 @@ if (!this.ignoreLimits) {
 
-                        return false;
+                        return didUpdate;
 
@@ -243,3 +255,3 @@ }
 
-            return false;
+            return didUpdate;
 
@@ -250,2 +262,43 @@ }
 
+    class URDFMimicJoint extends URDFJoint {
+
+        constructor(...args) {
+
+            super(...args);
+            this.type = 'URDFMimicJoint';
+            this.mimicJoint = null;
+            this.offset = 0;
+            this.multiplier = 1;
+
+        }
+
+        updateFromMimickedJoint(...values) {
+
+            const modifiedValues = values.map(x => x * this.multiplier + this.offset);
+            return super.setJointValue(...modifiedValues);
+
+        }
+
+        /* Overrides */
+        setJointValue(...values) {
+
+            console.warn(`URDFMimicJoint: Setting the joint value of mimic joint "${ this.urdfName }" will cause it to be out of sync.`);
+            return super.setJointValue(...values);
+        }
+
+        /* Overrides */
+        copy(source, recursive) {
+
+            super.copy(source, recursive);
+
+            this.mimicJoint = source.mimicJoint;
+            this.offset = source.offset;
+            this.multiplier = source.multiplier;
+
+            return this;
+
+        }
+
+    }
+
     class URDFRobot extends URDFLink {
@@ -630,2 +683,38 @@
 
+                // Link up mimic joints
+                const jointList = Object.values(jointMap);
+                jointList.forEach(j => {
+
+                    if (j instanceof URDFMimicJoint) {
+
+                        jointMap[j.mimicJoint].mimicJoints.push(j);
+
+                    }
+
+                });
+
+                // Detect infinite loops of mimic joints
+                jointList.forEach(j => {
+
+                    const uniqueJoints = new Set();
+                    const iterFunction = joint => {
+
+                        if (uniqueJoints.has(joint)) {
+
+                            throw new Error('URDFLoader: Detected an infinite loop of mimic joints.');
+
+                        }
+
+                        uniqueJoints.add(joint);
+                        joint.mimicJoints.forEach(j => {
+
+                            iterFunction(j);
+
+                        });
+
+                    };
+
+                    iterFunction(j);
+                });
+
                 obj.frames = {
@@ -647,3 +736,19 @@ ...colliderMap,
                 const jointType = joint.getAttribute('type');
-                const obj = new URDFJoint();
+
+                let obj;
+
+                const mimicTag = children.find(n => n.nodeName.toLowerCase() === 'mimic');
+                if (mimicTag) {
+
+                    obj = new URDFMimicJoint();
+                    obj.mimicJoint = mimicTag.getAttribute('joint');
+                    obj.multiplier = parseFloat(mimicTag.getAttribute('multiplier') || 1.0);
+                    obj.offset = parseFloat(mimicTag.getAttribute('offset') || 0.0);
+
+                } else {
+
+                    obj = new URDFJoint();
+
+                }
+
                 obj.urdfNode = joint;
@@ -682,3 +787,2 @@ obj.name = joint.getAttribute('name');
                     }
-
                 });
@@ -685,0 +789,0 @@

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Fixed alerts

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Improved metrics

Total package byte prevSize

270086

increased by3.12%

Lines of code

3010

increased by2.1%

No dependency changes