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<script lang="ts">
// Three.js visualization of an URDF.
import { T } from '@threlte/core';
import { getRootLinks } from '../utils/UrdfParser';
import UrdfLink from './UrdfLink.svelte';
import { scale } from 'svelte/transition';
import type IUrdfLink from '../interfaces/IUrdfLink';
import type IUrdfJoint from '../interfaces/IUrdfJoint';
import type IUrdfRobot from '../interfaces/IUrdfRobot';
interface Props {
robot: IUrdfRobot;
position?: [x: number, y: number, z: number];
quaternion?: [x: number, y: number, z: number, w: number];
showName?: boolean;
showVisual?: boolean;
showCollision?: boolean;
visualOpacity?: number;
collisionOpacity?: number;
collisionColor?: string;
jointNames?: boolean;
joints?: boolean;
jointColor?: string;
jointIndicatorColor?: string;
nameHeight?: number;
selectedLink?: IUrdfLink;
selectedJoint?: IUrdfJoint;
textScale?: number;
highlightColor?: string;
}
let {
robot,
position = [0, 0, 0],
quaternion = [0, 0, 0, 1],
showName = true,
showVisual = true,
showCollision = true,
visualOpacity = 1,
collisionOpacity = 1,
collisionColor = '#000000',
jointNames = true,
joints = true,
jointColor = '#000000',
jointIndicatorColor = '#000000',
nameHeight = 0.1,
selectedLink = undefined,
selectedJoint = undefined,
textScale = 1,
highlightColor = '#000000'
}: Props = $props();
</script>
<T.Group {position} {quaternion} scale={[10, 10, 10]} rotation={[-Math.PI / 2, 0, 0]}>
{#each getRootLinks(robot) as link}
<UrdfLink
{robot}
{link}
{textScale}
{showName}
{showVisual}
{showCollision}
{visualOpacity}
{collisionOpacity}
{collisionColor}
{jointNames}
{joints}
{jointColor}
{jointIndicatorColor}
{nameHeight}
{selectedLink}
{selectedJoint}
{highlightColor}
showLine={false}
opacity={1}
isInteractive={false}
/>
{/each}
</T.Group>
<!-- From https://github.com/brean/urdf-viewer -->
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