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Loader for THREE.js and webcomponent viewer","maintainers":[{"name":"gkjohnson","email":"garrett.kjohnson@gmail.com"}],"readme":"# urdf-loader\n\n[![npm version](https://img.shields.io/npm/v/urdf-loader.svg?style=flat-square)](https://www.npmjs.com/package/urdf-loader)\n[![build](https://img.shields.io/github/actions/workflow/status/gkjohnson/urdf-loaders/node.js.yml?style=flat-square&label=build&branch=master)](https://github.com/gkjohnson/urdf-loaders/actions)\n\nUtilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.\n\n[Basic loader example here!](https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/simple.html)\n\n[VR example here!](https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/vr.html)\n\n[Drag and drop web component tool here!](https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/index.html)\n\n![Example](/javascript/docs/javascript-example.gif)\n\n# Use\n\n#### Basic Use\n\nLoading a URDF file from a server.\n\n```js\nimport { LoadingManager } from 'three';\nimport URDFLoader from 'urdf-loader';\n\n// ...init three.js scene...\n\nconst manager = new LoadingManager();\nconst loader = new URDFLoader( manager );\nloader.packages = {\n    packageName : './package/dir/'            // The equivalent of a (list of) ROS package(s):// directory\n};\nloader.load(\n  'T12/urdf/T12.URDF',                    // The path to the URDF within the package OR absolute\n  robot => {\n\n    // The robot is loaded!\n    scene.add( robot );\n\n  }\n);\n```\n\n#### Custom Mesh Loader & Error Handling\n\nImplementing custom error handling and / or adding a custom loader for meshes can be done using the [loadMeshCb](#loadMeshCb) callback.\n\n```js\nimport { GLTFLoader } from 'three/examples/loaders/GLTFLoader.js';\nimport URDFLoader from 'urdf-loader';\n\n// ...init three.js scene...\n\nconst loader = new URDFLoader();\nloader.loadMeshCb = function( path, manager, onComplete ) {\n\n    const gltfLoader = new GLTFLoader( manager );\n    gltfLoader.load(\n        path,\n        result => {\n\n            onComplete( result.scene );\n\n        },\n        undefined,\n        err => {\n        \n            // try to load again, notify user, etc\n        \n            onComplete( null, err );\n        \n        }\n    );\n\n};\nloader.load( 'T12/urdf/T12.URDF', robot => {\n\n    // The robot is loaded!\n    scene.add( robot );\n\n} );\n\n```\n\n#### From Xacro\n\nUsing [XacroParser](https://github.com/gkjohnson/xacro-parser) to process a Xacro URDF file and then parse it.\n\n```js\nimport { LoaderUtils } from 'three';\nimport { XacroLoader } from 'xacro-parser';\nimport URDFLoader from 'urdf-loader';\n\n// ...init three.js scene...\n\nconst url = './path/to/file.xacro';\nconst xacroLoader = new XacroLoader();\nxacroLoader.load( url, xml => {\n\n    const urdfLoader = new URDFLoader();\n    urdfLoader.workingPath = LoaderUtils.extractUrlBase( url );\n\n    const robot = urdfLoader.parse( xml );\n    scene.add( robot );\n\n} );\n```\n\n### Adjusting Joint Angles\n\n```js\nrobot.setJointValue( jointName, jointAngle );\n\n// or\n\nrobot.joints[ jointName ].setJointValue( jointAngle );\n```\n\n# API\n\nSee [API.md](./API.md) for full API documentation.\n\n# Running the Example\n\nInstall Node.js and NPM.\n\nRun `npm install`.\n\nRun `npm start`.\n\nVisit `localhost:9080/javascript/example/dev-bundle/` to view the page.\n\n# LICENSE\n\nThe software is available under the [Apache V2.0 license](../LICENSE).\n\nCopyright © 2020 California Institute of Technology. ALL RIGHTS\nRESERVED. United States Government Sponsorship Acknowledged.\nNeither the name of Caltech nor its operating division, the\nJet Propulsion Laboratory, nor the names of its contributors may be\nused to endorse or promote products derived from this software\nwithout specific prior written permission.\n","readmeFilename":"README.md"}