torso, arms added, working on leg rolling joint

URDFEditor.js

@@ -17,8 +17,8 @@ export class URDFEditor {
     this.scene = new THREE.Scene();
     this.scene.background = new THREE.Color(0xaaaaaa);
 
-    this.camera = new THREE.PerspectiveCamera(45, canvas.clientWidth / canvas.clientHeight, 0.1, 100);
+    this.camera = new THREE.PerspectiveCamera(60, canvas.clientWidth / canvas.clientHeight, 0.1, 100);
-    this.camera.position.set(2, 2, 2);
+    this.camera.position.set(-0.3, 0.5, -0.7);
     this.camera.lookAt(0, 0, 0);
 
     this.renderer = new THREE.WebGLRenderer({ canvas, antialias: true });
@@ -38,7 +38,7 @@ export class URDFEditor {
 
 
     this.controls = new OrbitControls(this.camera, this.renderer.domElement);
-    this.controls.target.set(0, 0.5, 0);
+    this.controls.target.set(0, 0.1, 0);
     this.controls.update();
 
     this.raycaster = new THREE.Raycaster();
@@ -230,6 +230,7 @@ export class URDFEditor {
     console.log(lower, upper);
 
     const jointTransmission = this.robot.joints[jointName].transmission;
+    if (!jointTransmission) return;
     const encoderRange = jointTransmission.encoderRange / jointTransmission.mechanicalReduction;
     const sector = createRotationSector(this.worldAxis, lower, upper, encoderRange);
     const indicator = createAngleIndicator(this.worldAxis, this.jointAngles[jointName] ?? 0);
@@ -342,6 +343,10 @@ function radiansToTicks(radians, actuator) {
 
 function getJointLimits(jointName, robot) {
   const transmission = robot.joints[jointName].transmission;
+
+  if (!transmission) {
+    return { lower: -Math.PI, upper: Math.PI };
+  }
   //console.log(transmission.encoderValidMin, transmission.encoderValidMax);
   const lowerRad = ticksToRadians(transmission.encoderValidMin, transmission);
   const upperRad = ticksToRadians(transmission.encoderValidMax, transmission);

urdf/sample.urdf

@@ -28,42 +28,15 @@
       <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
     </inertial>
   </link>
-  <joint name="base_link_to_spine_1" type="revolute">
+  <joint name="base_link_to_base_link" type="revolute">
   <parent link="base_link"/>
-  <child link="spine_1"/>
+  <child link="base_link"/>
   <origin xyz="0 0 0.0337" rpy="0 0 0"/>
   <axis xyz="-0.9997 -0.0114 0.0229"/>
   <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
 </joint>
-  <link name="spine_1">
+ 
-    <visual>
+ 
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-      <material name="spine_1-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
-  <joint name="spine_1_to_upper_arm_right" type="revolute">
-  <parent link="spine_1"/>
-  <child link="upper_arm_right"/>
-  <origin xyz="0.0624 0 0.0973" rpy="-3.1416 -0.6587 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
   <link name="upper_arm_right">
     <visual>
       <origin xyz="0 0 0.03" rpy="0 0 0" />
@@ -146,8 +119,8 @@
   </link>
   
   <!-- Left Upper Arm -->
-<joint name="spine_1_to_upper_arm_left" type="revolute">
+<joint name="base_link_to_upper_arm_left" type="revolute">
-  <parent link="spine_1"/>
+  <parent link="base_link"/>
   <child link="upper_arm_left"/>
   <origin xyz="-0.0624 0 0.0973" rpy="3.1416 0.6587 0"/>
   <axis xyz="-1 0 0"/>
@@ -443,8 +416,8 @@
 </link>
 
 
-<joint name="spine_1_to_neck" type="revolute">
+<joint name="base_link_to_neck" type="revolute">
-  <parent link="spine_1"/>
+  <parent link="base_link"/>
   <child link="neck"/>
   <origin xyz="0 0 0.12" rpy="0 0 0"/>
   <axis xyz="0 0 1"/>
@@ -506,9 +479,9 @@
   </link>
 
 
-  <transmission name="spine_1_trans">
+  <transmission name="base_link_trans">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="base_link_to_spine_1">
+  <joint name="base_link_to_base_link">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -523,7 +496,7 @@
 
   <transmission name="upper_arm_left">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_left">
+  <joint name="base_link_to_upper_arm_left">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -568,7 +541,7 @@
 
 <transmission name="upper_arm_right">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_right">
+  <joint name="base_link_to_upper_arm_right">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -702,7 +675,7 @@
 </transmission>
 <transmission name="neck_base">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_neck">
+  <joint name="base_link_to_neck">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="neck_motor_base">