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urdf-exporter-js\n\n[![npm version](https://img.shields.io/npm/v/urdf-exporter.svg?style=flat-square)](https://www.npmjs.com/package/urdf-exporter)\n[![build](https://img.shields.io/github/actions/workflow/status/gkjohnson/urdf-exporter-js/node.js.yml?style=flat-square\u0026label=build\u0026branch=master)](https://github.com/gkjohnson/urdf-exporter-js/actions)\n[![github](https://flat.badgen.net/badge/icon/github?icon=github\u0026label)](https://github.com/gkjohnson/urdf-exporter-js/)\n[![twitter](https://flat.badgen.net/badge/twitter/@garrettkjohnson/?icon\u0026label)](https://twitter.com/garrettkjohnson)\n[![sponsors](https://img.shields.io/github/sponsors/gkjohnson?style=flat-square\u0026color=1da1f2)](https://github.com/sponsors/gkjohnson/)\n\n\n\n\nUtility for exporting a three.js object hierarchy as a URDF.\n\n# Use\n\nExporting a model constructed from URDF classes like `URDFLink` and `URDFJoint`.\n\n```js\nimport { URDFExporter } from 'urdf-exporter';\nimport { STLExporter } from 'three/examples/jsm/exporters/STLExporter.js';\n\nlet urdfModel;\n// ... create a model using the URDF classes for export\n\nconst models = {};\nconst exporter = new URDFExporter();\nexporter.processGeometryCallback = ( model, link ) =\u003e {\n\n\tconst name = `${ link.name }_mesh.stl`;\n\tmodels[ name ] = new STLExporter().parse( model );\n\treturn name;\n\n};\n\nurdfModel.updateMatrixWorld();\nconst urdf = exporter.parse( urdfModel );\n\n// ... urdf content ready!\n\n```\n\nConverting an existing model to one made with the appropriate classes.\n```js\nimport { URDFConverter, URDFRobot, URDFLink, URDFJoint, URDFVisual } from 'urdf-exporter';\n\nlet model;\n\n// ... create or load a model\n\nconst convert = new URDFConverter();\nconverter.generateCallback = child =\u003e {\n\n  let result;\n  if ( child.linkData ) {\n  \n    if ( child === model ) {\n    \n      result = new URDFRobot();\n      result.robotName = 'my-robot-urdf';\n    \n    } else {\n    \n      result = new URDFLink();\n    \n    }\n    \n    result.name = child.linkData.name;\n  \n  } else if ( child.jointData ) {\n  \n    result = new URDFJoint();\n    result.name = child.jointData.name;\n    result.jointType = 'revolute';\n    result.limit.lower = - Math.PI / 2;\n    result.limit.upper = Math.PI / 2;\n  \n  } else if ( child.isMesh ) {\n  \n    result = new URDFVisual()\n    result.add( child.clone() );\n  \n  } else {\n  \n      result = new Group();\n  \n  }\n  \n  result.position.copy( child.position );\n  result.quaternion.copy( child.quaternion );\n  result.scale.copy( child.scale );\n\n};\n\nconst urdfModel = converter.generate( model );\n\n// ... urdf class hierarchy!\n```\n\n# API\n\n## URDFConverter\n\nUtility class to enable convenient conversion from three.js objects to URDF classes for export.\n\n### .generateCallback\n\n```js\ngenerateCallback : ( object : Object3D ) =\u003e Object3D\n```\n\nCallback used for generating URDF class equivalents. The function is expected to return a cloned version of the provided mesh or a URDF class describing the analogous object. The returned object must be the child object that will have children added to it. The generator will then find the root parent to add to the previously processed object.\n\nFor example a custom three.js joint type could converted into a joint and link connection which can be run through the `URDFExporter`.\n\n### .postprocessCallback\n\n```js\npostprocessCallback : ( object : URDFRobot ) =\u003e void\n```\n\nA function that takes the generated URDF result to enable fixups and other types of postprocessing that might be needed.\n\n### .generate\n\n```js\ngenerate( object : Object3D ) : URDFRobot\n```\n\nTraverses the given hierarchy and generates a converted URDF hierarchy.\n\n## URDFExporter\n\n### .indent\n\n```js\nindent = '\\t' : string\n```\n\nThe set of indentation characters to use.\n\n### .processGeometryCallback\n\n```js\nprocessGeometryCallback : ( node : Object3D, link : URDFLink ) =\u003e string\n```\n\nThe callback for to use when processing geometry. Geometry must be processed and cached in order to be exported. A file path is returned from the function.\n\n### .parse\n\n```js\nparse( root : URDFRobot ) : string\n```\n\nParses the object into a urdf file. Returns the URDF contents as a string. The hierarchy matrix world must be updated before calling this function.\n\n## URDFLimit\n\nClass containing values to export for joint limits.\n\n### .upper\n\n```js\nupper = 0 : Number\n```\n\n### .lower\n\n```js\nlower = 0 : Number\n```\n\n### .velocity\n\n```js\nvelocity = 0 : Number\n```\n\n### .effort\n\n```js\neffort = 0 : Number\n```\n\n## URDFInertialFrame\n\nClass containing values for the link inertial frame.\n\n### .position\n\n```js\nposition : Vector3\n```\n\n### .rotation\n\n```js\nrotation : Euler\n```\n\n### .mass\n\n```js\nmass = 0 : Number\n```\n\n### .inertia\n\n```js\ninertial : Matrix3\n```\n\nThe upper triangular matrix is used to define the `xx`, `yy`, `zz`, `xy`, `yz`, and `xz` fields.\n\n## URDFLink\n\n_extends THREE.Object3D_\n\nWhen this field is encountered a new link is created in the URDF file.\n\n### .inertial\n\n```js\ninertial : URDFInertialFrame\n```\n\n## URDFJoint\n\n_extends THREE.Object3D_\n\nWhen this field is encountered a new joint is created in the URDF file.\n\n### .jointType\n\n```js\njointType = 'fixed' : string\n```\n\n### .axis\n\n```js\naxis : Vector3\n```\n\n### .limit\n\n```js\nlimit : URDFLimit\n```\n\n## URDFRobot\n\n_extends URDFLink_\n\nA class describing the root of the URDF Robot.\n\n### .robotName\n\n```js\nrobotName = '' : string\n```\n\n## URDFVisual\n\n_extends THREE.Object3D_\n\n## URDFCollider\n\n_extends THREE.Object3D_\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgkjohnson%2Furdf-exporter-js","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgkjohnson%2Furdf-exporter-js","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgkjohnson%2Furdf-exporter-js/lists"}