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https://github.com/openrr/urdf-viz

visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
https://github.com/openrr/urdf-viz

assimp inverse-kinematics robotics ros rust rust-lang urdf visualization xacro

Last synced: 30 days ago
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visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux

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README 

        
# urdf-viz



[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/urdf-viz/ci.yml?branch=main&logo=github)](https://github.com/openrr/urdf-viz/actions) [![crates.io](https://img.shields.io/crates/v/urdf-viz.svg?logo=rust)](https://crates.io/crates/urdf-viz) [![docs](https://docs.rs/urdf-viz/badge.svg)](https://docs.rs/urdf-viz) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)



Visualize [URDF(Unified Robot Description Format)](http://wiki.ros.org/urdf) file.

`urdf-viz` is written in Rust-lang.



## Install



### Install with `cargo`



If you are using rust-lang already and `cargo` is installed, you can install by `cargo install`.



```bash

cargo install urdf-viz

```



If you want to use mesh other than `.obj`, `.stl`, and `.dae` files, you need to install

with assimp like below.



```bash

cargo install urdf-viz --features assimp

```



### Pre-requirements for build



#### Common



If you want to use `--features assimp` to use mesh other than `.obj`, `.stl`, and `.dae` files, you need [cmake](https://cmake.org/download/).



#### On Linux



If you have not installed ROS, you may need `cmake`, `xorg-dev`, `glu` to

compile `assimp-sys` and `glfw-sys`.



```bash

sudo apt-get install cmake xorg-dev libglu1-mesa-dev

```



### Download binary



You can download prebuilt binaries from the [release page](https://github.com/openrr/urdf-viz/releases).

Prebuilt binaries are available for macOS, Linux, and Windows (static executable).



### Install via Homebrew



You can install urdf-viz using [Homebrew tap on macOS and Linux](https://github.com/openrr/homebrew-tap/blob/main/Formula/urdf-viz.rb):



```sh

brew install openrr/tap/urdf-viz

```



## How to use



`urdf-viz` command will be installed.

It needs `rosrun` and `rospack` to resolve `package://` in `` tag, and

it uses `xacro` to convert `.xacro` file into urdf file.

It means you need `$ source ~/catkin_ws/devel/setup.bash` or something before using `urdf-viz`.



```bash

urdf-viz URDF_FILE.urdf

```



It is possible to use xacro file directly.

It will be converted by `rosrun xacro xacro` inside of `urdf-viz`.



```bash

urdf-viz XACRO_FILE.urdf.xacro

```



If your xacro file has some arguments, you can pass them by `--xacro-args` option.



```bash

urdf-viz XACRO_FILE.urdf.xacro --xacro-args arg1=value arg2=value

```



For other options, please read the output of `-h` option.



```bash

urdf-viz -h

```



If there are no "package://" in mesh tag, and don't use xacro you can skip install of ROS.



If there are "package://" in mesh tag, but path or URL to package is known and

don't use xacro you can also skip install of ROS [by replacing package with path

or URL](https://github.com/openrr/urdf-viz/pull/176).



## GUI Usage



In the GUI, you can do some operations with keyboard and mouse.



* `l` key to reload the urdf from file

* `c` key to toggle collision model or visual mode

* Move a joint

  * set the angle of a joint by `Up`/`Down` key

  * `Ctrl` + Drag to move the angle of a joint

  * change the joint to be moved by `o` (`[`) and `p` (`]`)

* Inverse kinematics (only positions)

  * `Shift` + Drag to use inverse kinematics(Y and Z axis)

  * `Shift` + `Ctrl` + Drag to use inverse kinematics(X and Z axis)

  * change the move target for inverse kinematics by `,` or `.`

* `r` key to set random joints

* `z` key to reset joint positions and origin

* Move view point

  * Mouse Right Drag to translate view camera position

  * Mouse Left Drag to look around

  * Scroll to zoom in/out



## Web I/O interface



You can set/get the joint angles using http/JSON.

Default port number is 7777. You can change it by `-p` option.

(`jq` is used for JSON formatter in the following examples)



### Set joint angles



POST the JSON data, which format is like below. You have to specify the names of joints and positions (angles).

The length of `names` and `positions` have to be the same. You don't need write

all joint names, it means you can specify a part of the joints.



```json

{

  "names": ["joint_name1", "joint_name2"],

  "positions": [0.5, -0.1]

}

```



You can try it using `curl`.



```bash

$ curl -H "Accept: application/json" -H "Content-type: application/json" -X POST -d '{"names": ["r_shoulder_yaw", "r_shoulder_pitch"], "positions": [0.8, -0.8]}' http://127.0.0.1:7777/set_joint_positions | jq

{

  "is_ok": true,

  "reason": ""

}

```



### Get joint angles as JSON



The result JSON format of getting the joint angles is the same as the *Set* method.



```bash

$ curl http://127.0.0.1:7777/get_joint_positions | jq

{

  "names": [

    "r_shoulder_yaw",

    "r_shoulder_pitch",

    "r_shoulder_roll",

    "r_elbow_pitch",

    "r_wrist_yaw",

    "r_wrist_pitch",

    "l_shoulder_yaw",

    "l_shoulder_pitch",

    "l_shoulder_roll",

    "l_elbow_pitch",

    "l_wrist_yaw",

    "l_wrist_pitch"

  ],

  "positions": [

    0.8,

    -0.8,

    -1.3447506,

    -1.6683152,

    -1.786362,

    -1.0689334,

    0.11638665,

    -0.5987091,

    0.7868867,

    -0.027412653,

    0.019940138,

    -0.6975361

  ]

}

```



### Set Robot Origin



```bash

$ curl -H "Accept: application/json" -H "Content-type: application/json" -X POST -d '{"position":[0.2,0.0,0.0],"quaternion":[0.0,0.0,0.0,1.0]}' http://127.0.0.1:7777/set_robot_origin

{"is_ok":true,"reason":""}

```



The order of the quaternion elements is `w, i, j, k`.



### Get Robot Origin



```bash

$ curl http://127.0.0.1:7777/get_robot_origin

{"position":[0.2,0.0,0.0],"quaternion":[1.0,0.0,0.0,0.0]}

```



### Get URDF Text



```bash

curl http://127.0.0.1:7777/get_urdf_text

```



## Gallery



![sawyer_1.png](img/sawyer_1.png)

![sawyer_2.png](img/sawyer_2.png)



![nextage_1.png](img/nextage_1.png)

![nextage_2.png](img/nextage_2.png)



![hsr_1.png](img/hsr_1.png)

![hsr_2.png](img/hsr_2.png)



![ubr1_1.png](img/ubr1_1.png)

![ubr1_2.png](img/ubr1_2.png)



![pepper_1.png](img/pepper_1.png)

![pepper_2.png](img/pepper_2.png)



![pr2_1.png](img/pr2_1.png)

![pr2_2.png](img/pr2_2.png)



![thormang3_1.png](img/thormang3_1.png)

![thormang3_2.png](img/thormang3_2.png)



## Dependencies



* [kiss3d](https://github.com/sebcrozet/kiss3d): `urdf-viz` is strongly depend on `kiss3d`, which is super easy to use, great 3D graphic engine.

* [nalgebra](https://github.com/sebcrozet/nalgebra): linear algebra library.

* [k](https://github.com/openrr/k): kinematics library which is based on [nalgebra](https://github.com/sebcrozet/nalgebra). It can load URDF files using `urdf-rs`.

* [mesh-loader](https://github.com/openrr/mesh-loader): Mesh files (`.obj`, `.stl`, and `.dae`) loader.

* [urdf-rs](https://github.com/openrr/urdf-rs): URDF file loader.

* [structopt](https://github.com/TeXitoi/structopt): super easy command line arguments parser.



## `OpenRR` Community



[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.