56 lines
1.8 KiB
JavaScript
56 lines
1.8 KiB
JavaScript
import URDFLoader from './URDFLoader.js';
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export default
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class ExtendedURDFLoader extends URDFLoader {
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constructor(manager) {
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super(manager);
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this.transmissionMap = {};
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}
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parseTransmissions(xml) {
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const transmissions = xml.querySelectorAll('transmission');
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this.transmissionMap = {};
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transmissions.forEach(trans => {
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const jointName = trans.querySelector('joint')?.getAttribute('name');
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const actuator = trans.querySelector('actuator');
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const reduction = parseFloat(actuator?.querySelector('mechanicalReduction')?.textContent ?? '1');
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const actuatorName = actuator?.getAttribute('name') ?? null;
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const encoderMax = parseInt(actuator?.querySelector('encoderTicks')?.textContent ?? '4096');
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const encoderValidMin = parseInt(actuator?.querySelector('encoderValidMin')?.textContent ?? '0');
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const encoderValidMax = parseInt(actuator?.querySelector('encoderValidMax')?.textContent ?? '4095');
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if (jointName) {
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this.transmissionMap[jointName] = {
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gearRatio: reduction,
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actuatorName,
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encoderMax,
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encoderValidMin,
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encoderValidMax
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};
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}
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});
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}
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async loadFromString(urdfText, options = {}) {
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const xml = new DOMParser().parseFromString(urdfText, 'application/xml');
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const parserError = xml.querySelector('parsererror');
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if (parserError) {
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console.error('❌ XML parser error:', parserError.textContent);
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throw new Error('Invalid URDF XML: ' + parserError.textContent);
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}
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this.parseTransmissions(xml);
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const robot = this.parse(xml); // ✅ Use inherited parse() directly
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for (const jointName in robot.joints) {
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if (this.transmissionMap[jointName]) {
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robot.joints[jointName].transmission = this.transmissionMap[jointName];
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}
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}
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return robot;
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}
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}
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