Visualize URDF(Unified Robot Description Format) file.
urdf-viz
is written in Rust-lang.
If you are using rust-lang already and cargo
is installed, you can install by cargo install
.
cargo install urdf-viz
curl https://sh.rustup.rs -sSf | sh
and follow the instruction of the installer.
If you have not installed ROS, you may need cmake, xorg-dev, glu to compile assimp-sys and glfw-sys.
sudo apt-get install cmake xorg-dev libglu1-mesa-dev
You need freetype.lib in your PATH, which is required by freetype-sys
.
You can find binaries here
Install freetype by brew.
brew install freetype
If you don't want to install rust
and cargo
, you can find
binary releases of urdf-viz
for Ubuntu16.04/14.04 64bit, Windows, MacOS here.
urdf-viz
command will be installed.
It needs rosrun
and rospack
to resolve package://
in <mesh>
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
.
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
.
urdf-viz XACRO_FILE.urdf.xacro
For other options, please read the output of -h
option.
urdf-viz -h
If there are no "package://" in mesh tag, and don't use xacro you can skip install of ROS.
In the GUI, you can do some operations with keyboard and mouse.
l
key to reload the urdf from filec
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
[
and]
- set the angle of a joint by
- 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- Move view point
- Mouse Right Drag to translate view camera position
- Mouse Left Drag to look around
- Scroll to zoom in/out
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)
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.
{
"names": ["joint_name1", "joint_name2"],
"positions": [0.5, -0.1]
}
You can try it using curl
.
$ 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": ""
}
The result JSON format of getting the joint angles is the same as the Set method.
$ 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
]
}
- kiss3d:
urdf-viz
is strongly depend onkiss3d
, which is super easy to use, great 3D graphic engine. - nalgabra: linear algebra library.
- k: kinematics library which is based on nalgabra. It can load URDF files using
urdf-rs
. - assimp-rs: assimp rust interface.
kiss3d
supports.obj
files natively, but urdf containsdae
orstl
files. These files are converted to kiss3d mesh model byassim-rs
- urdf-rs: URDF file loader.
- structopt: super easy command line arguments parser.