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gkjohnson avatar gkjohnson commented on September 13, 2024

Hi @addy1997 - can you provide an example of what you've tried that hasn't worked? The URDF doesn't looks so unique so it should be able to be loaded based on the example code.

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addy1997 avatar addy1997 commented on September 13, 2024

Hi @gkjohnson,

I tried something like this to load the 3D model (in .GLB format ) of Panda robotic arm using AFRAME. The issue with .GLB model is that it doesn't store the properties of the Panda robot similar to the URDF file. My objective is to replicate Panda robot's motion on the 3D model on WebXR.

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gkjohnson avatar gkjohnson commented on September 13, 2024

Sorry I meant using the URDFLoader. There are instructions and examples, including for WebXR, in the README - what have you tried that isn't working?

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addy1997 avatar addy1997 commented on September 13, 2024

Hi @gkjohnson,

So I am trying to import urdf-loaders into my index.html file but it throws this error:

Error
Failed to load module script: Expected a JavaScript module script but the server responded with a MIME type of "text/plain". Strict MIME type checking is enforced for module scripts per HTML spec.

<!DOCTYPE html>
<html>

<head>
    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
    <meta charset="utf-8" />
    <title>Telemetry transfer from Panda robotic arm to the Digital twin</title>
    <script src="https://aframe.io/releases/1.5.0/aframe.min.js"></script>
    <script src="https://cdn.jsdelivr.net/gh/donmccurdy/[email protected]/dist/aframe-extras.misc.min.js"></script>
    <script src="https://cdnjs.cloudflare.com/ajax/libs/microsoft-signalr/3.1.7/signalr.min.js"></script>

    <!--<script async src="https://unpkg.com/[email protected]/dist/es-module-shims.js"></script>
    <script type="importmap">
            {
                 "imports": {
                    "urdf-loaders": "https://raw.githubusercontent.com/gkjohnson/urdf-loaders/master/javascript/src/URDFLoader.js"
                 }
              }
        </script>-->


    <script type="module">

        import { URDFLoader } from '../urdf-loaders/javascript/src/URDFLoader.js';

        AFRAME.registerComponent('load-panda-urdf', {

            init: function () {
                const manager = new THREE.LoadingManager();
                const loader = new URDFLoader(manager);
                loader.load(
                    '../urdf-loaders/urdf/T12/urdf/T12.URDF',
                    robot => {

                        // The robot is loaded!
                        this.el.sceneEl.object3D.add(robot);
                    });
            }
        });

    </script>
</head>
<html>

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gkjohnson avatar gkjohnson commented on September 13, 2024

Error
Failed to load module script: Expected a JavaScript module script but the server responded with a MIME type of "text/plain". Strict MIME type checking is enforced for module scripts per HTML spec.

This is an issue with your server or build process setup and not related to this project. There's not enough information to see what's happening and unfortunately I don't have the availability to help with this unrelated issue. I recommend looking up the error thats been logged and becoming familiar with the node and npm package ecosystem. You can also ask for help at stackoverflow.com or the threejs forums - even though this isn't related to three people may be able to guide you.

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addy1997 avatar addy1997 commented on September 13, 2024

Hi @gkjohnson,

Thanks for the clarification and apologies for opening this issue. This appears to be an error in my server.

When I try to load this file (using the code below), I got these errors

image

import 'urdf-loader';
const manager = new THREE.LoadingManager();
                const loader = new URDFLoader(manager);
                loader.load('https://cdn.jsdelivr.net/gh/StanfordASL/PandaRobot.jl@master/deps/Panda/panda.urdf',
                    robot => {

                        // The robot is loaded!
                        this.el.sceneEl.object3D.add(robot);
                    })

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gkjohnson avatar gkjohnson commented on September 13, 2024

Please see the documentation on how to implement support for other geometry file types, such as OBJ.

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