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
If you want to use mesh other than .obj
, .stl
, and .dae
files, you need to install
with assimp like below.
cargo install urdf-viz --features assimp
If you want to use --features assimp
to use mesh other than .obj
, .stl
, and .dae
files, you need cmake.
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 can download prebuilt binaries from the release page. Prebuilt binaries are available for macOS, Linux, and Windows (static executable).
You can install urdf-viz using Homebrew tap on macOS and Linux:
brew install openrr/tap/urdf-viz
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
If your xacro file has some arguments, you can pass them by --xacro-args
option.
urdf-viz XACRO_FILE.urdf.xacro --xacro-args arg1=value arg2=value
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.
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.
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
o
([
) andp
(]
)
- 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 jointsz
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
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
]
}
$ 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
.
$ 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]}
curl http://127.0.0.1:7777/get_urdf_text
- kiss3d:
urdf-viz
is strongly depend onkiss3d
, which is super easy to use, great 3D graphic engine. - nalgebra: linear algebra library.
- k: kinematics library which is based on nalgebra. It can load URDF files using
urdf-rs
. - mesh-loader: Mesh files (
.obj
,.stl
, and.dae
) loader. - urdf-rs: URDF file loader.
- structopt: super easy command line arguments parser.
Here is a discord server for OpenRR
users and developers.