# urdf-viz [](https://travis-ci.org/OTL/urdf-viz) [](https://ci.appveyor.com/project/OTL/urdf-viz) [](https://crates.io/crates/urdf-viz)
Visualize [URDF(Unified Robot Description Format)](http://wiki.ros.org/urdf) file.
`urdf-viz` is written in Rust-lang.
## Install
### Install with `cargo`
If you are using rust-lang already and `cargo` is installed, you can install by `cargo install`.
```bash
cargo install urdf-viz
```
#### (FYI) Install `cargo`
```bash
and follow the instruction of the installer.
## Pre-requirements for build
### On Linux
If you have not installed ROS, you may need cmake, xorg-dev, glu to
compile assimp-sys and glfw-sys.
```bash
sudo apt-get install cmake xorg-dev libglu1-mesa-dev
```
### On Windows
You need freetype.lib in your PATH, which is required by `freetype-sys`.
You can find binaries [here](https://github.com/PistonDevelopers/binaries)
### On MacOS
Install freetype by brew.
```bash
brew install freetype
```
## Download binary
If you don't want to install `rust` and `cargo`, you can find
binary releases of `urdf-viz` for Ubuntu16.04/14.04 64bit, Windows, MacOS [here](https://github.com/OTL/urdf-viz/releases).
## How to use
`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`.
```bash
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`.
```bash
urdf-viz XACRO_FILE.urdf.xacro
```
For other options, please read the output of `-h` option.
```bash
urdf-viz -h
```
If there are no "package://" in mesh tag, and don't use xacro you can skip install of ROS.
## GUI Usage
In the GUI, you can do some operations with keyboard and mouse.
* `l` key to reload the urdf from file
* `c` 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 `[` and `]`
* 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 joints
* Move view point
* Mouse Right Drag to translate view camera position
* Mouse Left Drag to look around
* Scroll to zoom in/out
## Web I/O interface
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)
### Set joint angles
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.
```json
{
"names": ["joint_name1", "joint_name2"],
"positions": [0.5, -0.1]
}
```
You can try it using `curl`.
```bash
"is_ok": true,
"reason": ""
}
```
### Get joint angles as JSON
The result JSON format of getting the joint angles is the same as the *Set* method.
```bash
"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
]
}
```
### Set Robot Origin
```bash
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
```
The order of the quaternion elements is `w, i, j, k`.
### Get Robot Origin
```bash
$ 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]}
```
## features
default features is ["use-assimp"]. If you don't use mesh except for .obj files, you can skip install of assimp by disabling the feature like below.
```bash
cargo build --no-default-features
```
## Gallery
## Dependencies
* [kiss3d](https://github.com/sebcrozet/kiss3d): `urdf-viz` is strongly depend on `kiss3d`, which is super easy to use, great 3D graphic engine.
* [nalgabra](https://github.com/sebcrozet/nalgebra): linear algebra library.
* [k](https://github.com/OTL/k): kinematics library which is based on [nalgabra](https://github.com/sebcrozet/nalgebra). It can load URDF files using `urdf-rs`.
* [assimp-rs](https://github.com/Eljay/assimp-rs): assimp rust interface. `kiss3d` supports `.obj` files natively, but urdf contains `dae` or `stl` files. These files are converted to kiss3d mesh model by `assim-rs`
* [urdf-rs](https://github.com/OTL/urdf-rs): URDF file loader.
* [structopt](https://github.com/TeXitoi/structopt): super easy command line arguments parser.