Huge News!Announcing our $40M Series B led by Abstract Ventures.Learn More
Socket
Sign inDemoInstall
Socket

urdf-loader

Package Overview
Dependencies
Maintainers
1
Versions
53
Alerts
File Explorer

Advanced tools

Socket logo

Install Socket

Detect and block malicious and high-risk dependencies

Install

urdf-loader

URDF Loader for THREE.js and webcomponent viewer

  • 0.1.0
  • Source
  • npm
  • Socket score

Version published
Maintainers
1
Created
Source

javascript urdf-loader npm version

Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.

Demo here!

Example

URDFLoader

<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>

API

URDFLoader.load(package, urdfpath, robotsCallback, geometryLoader, fetchOptions)

Loads and builds the specified URDF robot in THREE.js

package

required

The path representing the package:// directory to load package:// relative files.

urdfpath

required

The path to the URDF file relative to the specified package directory.

robotsCallback(robots)

required

Callback that is called once the urdf robots have been loaded. An array of loaded robots is passed to the function.

geometryLoader(pathToModel, fileExtension, doneCallback)

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.

fetchOptions

optional

An optional object with the set of options to pass to the fetch function call used to load the URDF file.

urdf-viewer Element

<!-- 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>

Attributes

package

Corresponds to the package parameter in URDFLoader.load.

urdf

Corresponds to the urdfpath parameter in URDFLoader.load.

up

The axis to associate with "up" in THREE.js. Values can be [+-][XYZ].

display-shadow

Whether or not the render the shadow under the robot.

ambient-color

The color of the ambient light specified with css colors.

Properties

All of the above attributes have corresponding camel case properties.

angles

Sets or gets the angles of the robot as a dictionary of joint-name to radian pairs.

Functions

setAngle(jointName, angle)

Sets the given joint to the provided angle in radians.

setAngles(jointDictionary)

Sets all joint names specified as keys to radian angle value.

Running the Example

Install Node.js and NPM

Run npm install

Run npm run server

Visit localhost:9080/javascript/example/ to view the page

LICENSE

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.

Keywords

FAQs

Package last updated on 15 Mar 2018

Did you know?

Socket

Socket for GitHub automatically highlights issues in each pull request and monitors the health of all your open source dependencies. Discover the contents of your packages and block harmful activity before you install or update your dependencies.

Install

Related posts

SocketSocket SOC 2 Logo

Product

  • Package Alerts
  • Integrations
  • Docs
  • Pricing
  • FAQ
  • Roadmap
  • Changelog

Packages

npm

Stay in touch

Get open source security insights delivered straight into your inbox.


  • Terms
  • Privacy
  • Security

Made with ⚡️ by Socket Inc