urdf-loaders

Added

• d.ts definition for loadAsync.

Added

• Support for "planar" and "floating" joint types.

Changed

• setJointValues function can now take "null" vaues.

Fixed

• Prismatic joints not moving as expected when there is a non-zero rotation.

Changed

• Bump three.js version to 0.152.2.

Fixed

• Add correct return type definitions for some functions.

Changed

• Change use of *BufferGeometry classes to be *Geometry variants.
• Bumped three.js peer dependency version requirement.

Changed

• Removed log when modifying "mimic" joints

Fixed

• Internal URDF material colors are implicitly converted to Linear colors.

Fixed

• Types for the loadMeshCb function.

Fixed

• Typescript definition for "packages" field to include function.

Added

• Reexport URDF Class types from the root file.

Fixed

• URDFJoint.axis not correctly defaulting to 1, 0, 0.

Changed

• Added "type": "module" to the package.json and made the main entry file point to the es6 module.
• Export URDF Class types as interafaces rather than classes.
• Changed URDF Class type definitions to be exported as interface rather than class.

Added

• Support for "mimic" joints.

Fixed

• Incorrect mouseover and mouseout event firing with the manipulation element.

Fixed

• Unnecessary creation of a new quaternion when setting a joint angle.
• Throw a human readable error when fetch fails.
• The model failing to clone if the object names were changed.

Added

• Ability to set the packages option to a function.

Added

• Normal bias to shadows in URDFViewerElement.

Fixed

• Apply the mesh node scale to the parent visual node rather than the loaded mesh.
• URDFViewerElement incorrectly calling setJointValue.
• Incorrectly preserving rotation from loaded meshes.

Fixed

• Fix URDFRobot.setJointValues not always setting all joint values.

Added

• URDFRobot.frames map.
• URDFRobot.visual map.
• URDFRobot.colliders map.
• Visual and collider nodes now get the name of the associated urdf node.
• Typescript definitions for URDFVisual and URDFCollider objects.
• setJointValue function to URDFJoint and URDFRobot.
• getFrame function to URDFRobot.
• URDFLoader.loadAsync function

Changed

• Transparent materials now set depthWrite to false.
• Removed setOffset, setAngles, and setAngle functions from URDFJoint and URDFRobot.

Fixed

• Incorrect use of worldMatrixNeedsUpdate to matrixWorldNeedsUpdate.

Changed

• License text in README to remove unnecessary copy.

Added

• Support for processing pre-parsed XML documents to the parse function. A Document or Element object as returned from DOMParser may be passed in place of the xml string.

Changed

• Moved the URDFLoader options to member variables instead of an object paramter to parse and load functions.
• Added onError and onProgress callbacks to load function.

Fixed

• Incorrect handling of empty "texture" tags that caused materials to display improperly.