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Custom URDF and Visualization

This module is suitable for robot model loading, kinematics validation, and custom 3D visualization control.

URDF Loader​

The URDF loader is used to select or import a robot model:

  • Preset Series: Provides entries for commonly used robot models in the Alicia-D series and Alicia-M series.
  • Local Import: Select a .urdf file from your computer to load your own robot model.
  • Online Robot Model Library: Displays public robot models, supporting download and installation to the local cache.

Online models display their current status:

  • Cached: The model has been downloaded locally and can be loaded directly from the cache.
  • Download Online: The model has not yet been downloaded; you can download it before using it.
  • Download and Load: After downloading the model, automatically enter the visualization control page.

After the model loads successfully, it automatically redirects to the SparkVis visualization control page.

Custom Visualization Page​

The custom visualization page is used to view and control the currently loaded URDF model:

  • Displays the name of the currently loaded .urdf file.
  • View the model pose, axes, and reference grid in the 3D view.
  • View end-effector coordinate and end-effector pose information.
  • Switch between the three tabs: Joint Control, Cartesian Space, and Trajectory Planning.
  • Supports adjusting joint angles to validate the model's joint limits and motion effects.
  • Supports exiting the current model, or connecting to a real device in supported scenarios.