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
static-body	static-body		A fixed-position or animated object. Other objects may collide with static bodies, but static bodies themselves are unaffected by gravity and collisions. Requires `scene-options: physics`.	No
dynamic-body	dynamic-body		A freely-moving object. Dynamic bodies have mass, collide with other objects, bounce or slow during collisions, and fall if gravity is enabled. 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	impulse		Apply an impulse to an object to set it in motion. This happens in conjunction with an event. Requires `click-listener` attribute and `scene-options: physics`.	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