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URDF Model

Load a URDF model.

See guidance to store paths under ARENA File Store, CDN, or DropBox.

All wire objects have a set of basic attributes {object_id, action, type, persist, data}. The data attribute defines the object-specific attributes

URDF Model Attributes

Attribute Type Default Description Required
object_id string   A uuid or otherwise unique identifier for this object. Yes
persist boolean True Persist this object in the database. Yes
type string; Must be: object 'object' AFrame 3D Object Yes
action string; One of: ['create', 'delete', 'update'] 'create' Message action create, update, delete. Yes
ttl number   When applied to an entity, the entity will remove itself from DOM after the specified number of seconds. Update is allowed, which will reset the timer to start from that moment. No
private boolean False If true, interactions with this object should not be broadcasted to other clients, but rather sent on private topics No
program_id string   The program_id on private program topics that interactions to be directed to, if the private flag is set true. Ignored if private flag is false. No
data URDF Model data   URDF Model Data Yes

URDF Model Data Attributes

Attribute Type Default Description Required
object_type string; Must be: urdf-model urdf-model 3D object type. Yes
url string   Use File Store paths under ‘store/users/username’, see CDN and other storage options in the description above. Yes
urlBase string   Base path for xacro/urdf package includes. This must be an absolute path with no trailing slash, e.g. ‘/store/users/username/robot’ Yes
joints string   Set joint values (in degrees) in the form ‘JointName1: ValueInDegrees1, JointName2: ValueInDegrees2, …’. No
parent string   Parent’s object_id. Child objects inherit attributes of their parent, for example scale and translation. No
position position   3D object position. No
rotation rotation   3D object rotation in quaternion representation; Right-handed coordinate system. Euler degrees are deprecated in wire message format. No
scale scale   3D object scale. No
visible boolean True Whether object is visible. Property is inherited. No
animation animation   Animate and tween values. No
armarker armarker   A location marker (such as an AprilTag, a lightAnchor, or an UWB tag), used to anchor scenes, or scene objects, in the real world. No
click-listener click-listener   Object will listen for mouse events like clicks. No
box-collision-listener box-collision-listener   Listen for bounding-box collisions with user camera and hands. Must be applied to an object or model with geometric mesh. Collisions are determined by course bounding-box overlaps. No
collision-listener string   Name of the collision-listener, default can be empty string. Collisions trigger click events. Requires scene-options: physics. No
blip blip   When the object is created or deleted, it will animate in/out of the scene instead of appearing/disappearing instantly. Must have a geometric mesh. No
dynamic-body object   DEPRECATED: data.dynamic-body is deprecated, use data.physx-body instead. No
static-body object   DEPRECATED: data.static-body is deprecated, use data.physx-body instead. No
physx-body physx-body   Turns an entity into a PhysX rigid body. This is the main component for creating physics objects. There are 3 types of rigid bodies: dynamic objects that have physics simulated on them, static objects that cannot move, and kinematic objects that can be moved programmatically but not by simulation. Requires scene-options: physics. No
physx-material physx-material   Controls physics properties for individual shapes or rigid bodies. Can be set on an entity with physx-body or on shapes contained within it. Requires scene-options: physics. No
physx-joint physx-joint   Creates a PhysX joint between an ancestor rigid body and a target rigid body. Position and rotation of the entity will be used to create the corresponding joint. Requires scene-options: physics. No
physx-joint-constraint physx-joint-constraint   Adds a constraint to a physx-joint. Supported joints are D6, Revolute and Prismatic. Can only be used on an entity with the physx-joint component. Requires scene-options: physics. No
physx-joint-driver physx-joint-driver   Creates a driver which exerts force to return the joint to the initial position with the given velocity characteristics. Can only be used on an entity with a physx-joint component. Currently only supports D6 joint type. Requires scene-options: physics. No
physx-force-pushable physx-force-pushable   Makes a physx-body object pushable by the user. Requires click-listener attribute. Requires scene-options: physics. No
physx-grabbable boolean True Makes a physx-body object grabbable by the user’s hands. Requires scene-options: physics. No
goto-landmark goto-landmark   Teleports user to the landmark with the given name. Requires click-listener attribute. No
goto-url goto-url   Load new URL when object is clicked. Requires click-listener attribute. No
hide-on-enter-ar boolean; Must be: True True Hide object when entering AR. Remove component to not hide. No
hide-on-enter-vr boolean; Must be: True True Hide object when entering VR. Remove component to not hide. No
show-on-enter-ar boolean; Must be: True True Show object when entering AR. Hidden otherwise. No
show-on-enter-vr boolean; Must be: True True Show object when entering VR. Hidden otherwise. No
impulse object   DEPRECATED: data.impulse is deprecated, use data.physx-force-pushable instead. No
landmark landmark   Define entities as a landmark; Landmarks appears in the landmark list and you can move (teleport) to them; You can define the behavior of the teleport: if you will be at a fixed or random distance, looking at the landmark, fixed offset or if it is constrained by a navmesh (when it exists). No
material-extras material-extras   Define extra material properties, namely texture encoding, whether to render the material’s color and render order. Requires material attribute. No
model-container model-container   Overrides absolute size for a 3D model. The model can be a glTF, glb, obj, or any other supported format. The model will be rescaled to fit to the sizes specified for each axes. No
shadow shadow   The shadow component enables shadows for an entity and its children. Adding the shadow component alone is not enough to display shadows in your scene. We must have at least one light with castShadow: true enabled. No
sound sound   The sound component defines the entity as a source of sound or audio. The sound component can be positional and is thus affected by the component’s position. No
submodel-parent string '' When this object is parented to a hierarchical model, it attaches to a named sub-component of that model instead of the root position. Requires parent attribute. No
textinput textinput   Opens an HTML prompt when clicked. Sends text input as an event on MQTT. Requires click-listener attribute. No
remote-render remote-render   Whether or not an object should be remote rendered [Experimental]. No
video-control video-control   Adds a video to an entity and controls its playback. No
attribution attribution   Attribution Component. Saves attribution data in any entity. No
spe-particles spe-particles   GPU based particle systems in A-Frame. No
look-at string   The look-at component defines the behavior for an entity to dynamically rotate or face towards another entity or position. Use ‘#my-camera’ to face the user camera, otherwise can take either a vec3 position or a query selector to another entity. No