urdf-loader
Advanced tools
Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.
<script src=".../URDFLoader.js"></script>
<script>
URDFLoader.load(
'.../package/dir/', // URDF's package:// directory
'T12/urdf/T12.URDF', // The path to the URDF in the package
robot => { }, // The robot is loaded!
(path, ext, done) => { }, // Callback for each mesh for custom mesh processing and loading code
)
</script>
Loads and builds the specified URDF robot in THREE.js
required
The path representing the package:// directory to load package:// relative files.
required
The path to the URDF file relative to the specified package directory.
required
Callback that is called once the urdf robots have been loaded. An array of loaded robots is passed to the 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.
optional
An optional object with the set of options to pass to the fetch function call used to load the URDF file.
<!-- Register the Element -->
<script href=".../urdf-viewer-element.js" />
<script>customElements.define('urdf-viewer', URDFViewer)</script>
<body>
<urdf-viewer package=".../package/dir/" urdf="T12/urdf/T12.URDF" up="Z+" display-shadow ambient-color="red"></urdf-viewer>
</body>
Corresponds to the package parameter in URDFLoader.load.
Corresponds to the urdfpath parameter in URDFLoader.load.
The axis to associate with "up" in THREE.js. Values can be [+-][XYZ].
Whether or not the render the shadow under the robot.
The color of the ambient light specified with css colors.
All of the above attributes have corresponding camel case properties.
Sets or gets the angles of the robot as a dictionary of joint-name to radian pairs.
Sets the given joint to the provided angle in radians.
Sets all joint names specified as keys to radian angle value.
Install Node.js and NPM
Run npm install
Run npm run server
Visit localhost:9080/javascript/example/ to view the page
The software is available under the Apache V2.0 license.
Copyright © 2018 California Institute of Technology. ALL RIGHTS RESERVED. United States Government Sponsorship Acknowledged. Any commercial use must be negotiated with with Office of Technology Transfer at the California Institute of Technology. This software may be subject to U.S. export control laws. By accepting this software, the user agrees to comply with all applicable U.S. export laws and regulations. User has the responsibility to obtain export licenses, or other export authority as may be required before exporting such information to foreign countries or providing access to foreign persons. 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.
FAQs
URDF Loader for THREE.js and webcomponent viewer
The npm package urdf-loader receives a total of 13,366 weekly downloads. As such, urdf-loader popularity was classified as popular.
We found that urdf-loader demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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