refactor: rename URDF to Urdf

.dockerignore

@@ -47,7 +47,7 @@ Thumbs.db
 Dockerfile
 .dockerignore
 
-# URDF files and STLs (if you don't need them in the image)
+# Urdf files and STLs (if you don't need them in the image)
 *.STL
 *.stl
 

Dockerfile

@@ -22,15 +22,15 @@ RUN npm install
 # Copy the entire viewer directory
 COPY --chown=user viewer/ .
 
-# Debug: List all files in the src/components directory
-RUN echo "=== Listing src/components directory ===" && \
-    ls -la src/components && \
-    echo "=== Listing URDFViewer file specifically ===" && \
-    ls -la src/components/URDFViewer* && \
-    echo "=== Current working directory ===" && \
-    pwd && \
-    echo "=== Directory structure ===" && \
-    find . -type f -name "*.tsx" | sort
+# # Debug: List all files in the src/components directory
+# RUN echo "=== Listing src/components directory ===" && \
+#     ls -la src/components && \
+#     echo "=== Listing UrdfViewer file specifically ===" && \
+#     ls -la src/components/UrdfViewer* && \
+#     echo "=== Current working directory ===" && \
+#     pwd && \
+#     echo "=== Directory structure ===" && \
+#     find . -type f -name "*.tsx" | sort
 
 # Ensure proper file permissions
 RUN chmod -R 755 .

README.md

@@ -6,7 +6,7 @@ colorTo: indigo
 sdk: docker
 app_port: 7860
 pinned: false
-short_description: Upload a URDF folder to view and interact with your robot.
+short_description: Upload a Urdf folder to view and interact with your robot.
 ---
 
 Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

viewer/README.md

@@ -1,4 +1,4 @@
-# URDF Web Visualizer
+# Urdf Web Visualizer
 
 **URL**: https://urdf-web-visualizer.lovable.app/
 

viewer/index.html

@@ -4,7 +4,7 @@
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>placeholder</title>
-    <meta name="description" content="A simple tool to visualize URDF files." />
+    <meta name="description" content="A simple tool to visualize Urdf files." />
     <meta name="author" content="Victor Oldensand" />
     <meta property="og:image" content="/og-image.png" />
   </head>

viewer/public/urdf/SO_5DOF_ARM100_05d/urdf/SO_5DOF_ARM100_05d.urdf

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) 
+<!-- This Urdf was automatically created by SolidWorks to Urdf Exporter! Originally created by Stephen Brawner ([email protected]) 
      Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot

viewer/src/components/UrdfSelectionModalContainer.tsx

@@ -2,7 +2,7 @@ import { useUrdf } from "@/hooks/useUrdf";
 import { UrdfSelectionModal } from "@/components/ui/UrdfSelectionModal";
 
 /**
- * Container component that manages the URDF selection modal.
+ * Container component that manages the Urdf selection modal.
  * This is meant to be placed in the application layout to ensure the modal
  * is accessible throughout the application without nesting issues.
  */

viewer/src/components/layout/Layout.tsx

@@ -1,5 +1,5 @@
 import React, { useState, useEffect } from "react";
-import URDFViewer from "@/components/URDFViewer";
+import UrdfViewer from "@/components/UrdfViewer";
 import { Sidebar, SidebarBody } from "@/components/ui/sidebar";
 import { LayoutDashboard, PanelLeft, RotateCcw } from "lucide-react";
 import { useUrdf } from "@/hooks/useUrdf";
@@ -42,7 +42,7 @@ const Layout: React.FC = () => {
       <div className="absolute inset-0 overflow-hidden">
         {/* Main content that fills the container */}
         <div className="w-full h-full">
-          <URDFViewer />
+          <UrdfViewer />
         </div>
       </div>
     );
@@ -52,7 +52,7 @@ const Layout: React.FC = () => {
     <div className="relative w-full h-full overflow-hidden">
       {/* Main content that fills the container */}
       <div className="w-full h-full">
-        <URDFViewer />
+        <UrdfViewer />
       </div>
       {/* Sidebar positioned above with z-index, with top padding for header */}
       <div

viewer/src/components/ui/UrdfSelectionModal.tsx

@@ -34,9 +34,9 @@ export function UrdfSelectionModal({
     <Dialog open={isOpen} onOpenChange={(open) => !open && onClose()}>
       <DialogContent className="sm:max-w-[600px]">
         <DialogHeader>
-          <DialogTitle>Select URDF Model</DialogTitle>
+          <DialogTitle>Select Urdf Model</DialogTitle>
           <DialogDescription>
-            Multiple URDF files were found. Please select the model you want to
+            Multiple Urdf files were found. Please select the model you want to
             visualize.
           </DialogDescription>
         </DialogHeader>

viewer/src/contexts/DragAndDropContext.tsx

@@ -28,7 +28,7 @@ export const DragAndDropProvider: React.FC<DragAndDropProviderProps> = ({
 }) => {
   const [isDragging, setIsDragging] = useState(false);
 
-  // Get the URDF context
+  // Get the Urdf context
   const { urdfProcessor, processUrdfFiles } = useUrdf();
 
   const handleDragOver = (e: DragEvent) => {
@@ -111,7 +111,7 @@ export const DragAndDropProvider: React.FC<DragAndDropProviderProps> = ({
       {isDragging && (
         <div className="fixed inset-0 bg-primary/10 pointer-events-none z-50 flex items-center justify-center">
           <div className="bg-background p-8 rounded-lg shadow-lg text-center">
-            <div className="text-3xl font-bold mb-4">Drop URDF Files Here</div>
+            <div className="text-3xl font-bold mb-4">Drop Urdf Files Here</div>
             <p className="text-muted-foreground">
               Release to upload your robot model
             </p>

viewer/src/contexts/UrdfContext.tsx

@@ -13,7 +13,7 @@ import { UrdfData, UrdfFileModel } from "@/lib/types";
 import { useDefaultRobotData } from "@/hooks/useDefaultRobotData";
 import { RobotAnimationConfig } from "@/lib/types";
 
-// Define the result interface for URDF detection
+// Define the result interface for Urdf detection
 interface UrdfDetectionResult {
   hasUrdf: boolean;
   modelName?: string;
@@ -52,7 +52,7 @@ export type UrdfContextType = {
   // These properties are kept for backward compatibility but are considered
   // implementation details and should not be used directly in components.
   // TODO: Remove these next three once the time is right
-  parsedRobotData: UrdfData | null; // Data from parsed URDF
+  parsedRobotData: UrdfData | null; // Data from parsed Urdf
   customModelName: string;
   customModelDescription: string;
 };
@@ -68,7 +68,7 @@ interface UrdfProviderProps {
 }
 
 export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
-  // State for URDF processor
+  // State for Urdf processor
   const [urdfProcessor, setUrdfProcessor] = useState<UrdfProcessor | null>(
     null
   );
@@ -81,7 +81,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     []
   );
 
-  // State for the URDF selection modal
+  // State for the Urdf selection modal
   const [isSelectionModalOpen, setIsSelectionModalOpen] = useState(false);
   const [urdfModelOptions, setUrdfModelOptions] = useState<UrdfFileModel[]>([]);
 
@@ -103,34 +103,34 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
   // Compute the current robot data based on model state
   const currentRobotData = isDefaultModel ? defaultRobotData : parsedRobotData;
 
-  // Fetch the default URDF content when the component mounts
+  // Fetch the default Urdf content when the component mounts
   useEffect(() => {
     // Only fetch if we don't have content and we're using the default model
     if (isDefaultModel && !urdfContent) {
       const fetchDefaultUrdf = async () => {
         try {
-          // Path to the default T12 URDF file
+          // Path to the default T12 Urdf file
           const defaultUrdfPath =
-            "/urdf/SO_5DOF_ARM100_05d/urdf/SO_5DOF_ARM100_05d.URDF";
+            "/urdf/SO_5DOF_ARM100_05d/urdf/SO_5DOF_ARM100_05d.Urdf";
 
-          // Fetch the URDF content
+          // Fetch the Urdf content
           const response = await fetch(defaultUrdfPath);
 
           if (!response.ok) {
             throw new Error(
-              `Failed to fetch default URDF: ${response.statusText}`
+              `Failed to fetch default Urdf: ${response.statusText}`
             );
           }
 
           const defaultUrdfContent = await response.text();
           console.log(
-            `📄 Default URDF content loaded, length: ${defaultUrdfContent.length} characters`
+            `📄 Default Urdf content loaded, length: ${defaultUrdfContent.length} characters`
           );
 
-          // Set the URDF content in state
+          // Set the Urdf content in state
           setUrdfContent(defaultUrdfContent);
         } catch (error) {
-          console.error("❌ Error loading default URDF content:", error);
+          console.error("❌ Error loading default Urdf content:", error);
         }
       };
 
@@ -170,7 +170,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     });
   }, []);
 
-  // Register a callback for URDF detection
+  // Register a callback for Urdf detection
   const onUrdfDetected = useCallback(
     (callback: (result: UrdfDetectionResult) => void) => {
       urdfCallbacksRef.current.push(callback);
@@ -184,7 +184,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     []
   );
 
-  // Register a URDF processor
+  // Register a Urdf processor
   const registerUrdfProcessor = useCallback((processor: UrdfProcessor) => {
     setUrdfProcessor(processor);
   }, []);
@@ -192,11 +192,11 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
   // Internal function to notify callbacks and update central state
   const notifyUrdfCallbacks = useCallback(
     (result: UrdfDetectionResult) => {
-      console.log("📣 Notifying URDF callbacks with result:", result);
+      console.log("📣 Notifying Urdf callbacks with result:", result);
 
       // Update our internal state based on the result
       if (result.hasUrdf) {
-        // Always ensure we set isDefaultModel to false when we have a URDF
+        // Always ensure we set isDefaultModel to false when we have a Urdf
         setIsDefaultModel(false);
 
         if (result.parsedData) {
@@ -240,7 +240,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           setParsedRobotData(minimalData);
         }
       } else {
-        // If no URDF, reset to default
+        // If no Urdf, reset to default
         resetToDefaultModel();
       }
 
@@ -250,7 +250,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     [resetToDefaultModel]
   );
 
-  // Helper function to process the selected URDF model
+  // Helper function to process the selected Urdf model
   const processSelectedUrdf = useCallback(
     async (model: UrdfFileModel) => {
       if (!urdfProcessor) return;
@@ -267,12 +267,12 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
         .filter((item) => item !== null);
 
       if (files.length === 0) {
-        console.error("❌ Could not find file for selected URDF model");
+        console.error("❌ Could not find file for selected Urdf model");
         return;
       }
 
-      // Show a toast notification that we're parsing the URDF
-      const parsingToast = toast.loading("Analyzing URDF model...", {
+      // Show a toast notification that we're parsing the Urdf
+      const parsingToast = toast.loading("Analyzing Urdf model...", {
         description: "Extracting robot information",
         duration: 10000, // Long duration since we'll dismiss it manually
       });
@@ -295,23 +295,23 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           }
         );
 
-        // Read the URDF content
+        // Read the Urdf content
         const urdfContent = await readUrdfFileContent(file);
 
         console.log(
-          `📏 URDF content read, length: ${urdfContent.length} characters`
+          `📏 Urdf content read, length: ${urdfContent.length} characters`
         );
 
-        // Store the URDF content in state
+        // Store the Urdf content in state
         setUrdfContent(urdfContent);
 
-        // Parse the URDF
+        // Parse the Urdf
         const parseResult = await parseUrdf(urdfContent);
 
         // Dismiss the toast
         toast.dismiss(parsingToast);
 
-        // Always set isDefaultModel to false when processing a custom URDF
+        // Always set isDefaultModel to false when processing a custom Urdf
         setIsDefaultModel(false);
 
         if (parseResult) {
@@ -345,7 +345,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           // Update the state with enhanced parsed data
           setParsedRobotData(enhancedParsedData);
 
-          toast.success("URDF model loaded successfully", {
+          toast.success("Urdf model loaded successfully", {
             description: `Model: ${modelDisplayName}`,
             duration: 3000,
           });
@@ -373,7 +373,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           setCustomModelDescription(minimalData.description);
           setParsedRobotData(minimalData);
 
-          toast.warning("URDF model loaded with limited information", {
+          toast.warning("Urdf model loaded with limited information", {
             description: "Could not fully analyze the robot structure",
             duration: 3000,
           });
@@ -387,9 +387,9 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
         }
       } catch (error) {
         // Error case
-        console.error("❌ Error processing selected URDF:", error);
+        console.error("❌ Error processing selected Urdf:", error);
         toast.dismiss(parsingToast);
-        toast.error("Error analyzing URDF", {
+        toast.error("Error analyzing Urdf", {
           description: `Error: ${
             error instanceof Error ? error.message : String(error)
           }`,
@@ -403,11 +403,11 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     [urdfBlobUrls, urdfProcessor, parseUrdf, notifyUrdfCallbacks]
   );
 
-  // Function to handle selecting a URDF model from the modal
+  // Function to handle selecting a Urdf model from the modal
   const selectUrdfModel = useCallback(
     (model: UrdfFileModel) => {
       if (!urdfProcessor) {
-        console.error("❌ No URDF processor available");
+        console.error("❌ No Urdf processor available");
         return;
       }
 
@@ -425,7 +425,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           ?.replace(/\.urdf$/i, "") ||
         "Unknown";
 
-      // Load the selected URDF model
+      // Load the selected Urdf model
       urdfProcessor.loadUrdf(model.blobUrl);
 
       // Update our state immediately even before parsing
@@ -451,7 +451,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
     [urdfProcessor, notifyUrdfCallbacks, processSelectedUrdf]
   );
 
-  // Process URDF files - moved from DragAndDropContext
+  // Process Urdf files - moved from DragAndDropContext
   const processUrdfFiles = useCallback(
     async (files: Record<string, File>, availableModels: string[]) => {
       // Clear previous blob URLs to prevent memory leaks
@@ -461,10 +461,10 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
       setUrdfModelOptions([]);
 
       try {
-        // Check if we have any URDF files
+        // Check if we have any Urdf files
         if (availableModels.length > 0 && urdfProcessor) {
           console.log(
-            `🤖 Found ${availableModels.length} URDF models:`,
+            `🤖 Found ${availableModels.length} Urdf models:`,
             availableModels
           );
 
@@ -495,7 +495,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
 
           // If there's only one model, use it directly
           if (availableModels.length === 1) {
-            // Extract model name from the URDF file
+            // Extract model name from the Urdf file
             const fileName = availableModels[0].split("/").pop() || "";
             const modelName = fileName.replace(/\.urdf$/i, "");
             console.log(`📄 Using model: ${modelName} (${fileName})`);
@@ -503,21 +503,21 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
             // Use the blob URL instead of the file path
             const blobUrl = newUrdfBlobUrls[availableModels[0]];
             if (blobUrl) {
-              console.log(`🔗 Using blob URL for URDF: ${blobUrl}`);
+              console.log(`🔗 Using blob URL for Urdf: ${blobUrl}`);
               urdfProcessor.loadUrdf(blobUrl);
 
               // Immediately update model state
               setIsDefaultModel(false);
               setCustomModelName(modelName);
 
-              // Process the URDF file for parsing
+              // Process the Urdf file for parsing
               if (files[availableModels[0]]) {
                 console.log(
-                  "📄 Reading URDF content for edge function parsing..."
+                  "📄 Reading Urdf content for edge function parsing..."
                 );
 
-                // Show a toast notification that we're parsing the URDF
-                const parsingToast = toast.loading("Analyzing URDF model...", {
+                // Show a toast notification that we're parsing the Urdf
+                const parsingToast = toast.loading("Analyzing Urdf model...", {
                   description: "Extracting robot information",
                   duration: 10000, // Long duration since we'll dismiss it manually
                 });
@@ -528,10 +528,10 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
                   );
 
                   console.log(
-                    `📏 URDF content read, length: ${urdfContent.length} characters`
+                    `📏 Urdf content read, length: ${urdfContent.length} characters`
                   );
 
-                  // Store the URDF content in state
+                  // Store the Urdf content in state
                   setUrdfContent(urdfContent);
 
                   // Call the parseUrdf function from the hook
@@ -541,7 +541,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
                   toast.dismiss(parsingToast);
 
                   if (parseResult) {
-                    toast.success("URDF model analyzed successfully", {
+                    toast.success("Urdf model analyzed successfully", {
                       description: `Model: ${modelName}`,
                       duration: 3000,
                     });
@@ -590,7 +590,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
                     setParsedRobotData(minimalData);
 
                     toast.warning(
-                      "URDF model loaded with limited information",
+                      "Urdf model loaded with limited information",
                       {
                         description:
                           "Could not fully analyze the robot structure",
@@ -606,9 +606,9 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
                     });
                   }
                 } catch (parseError) {
-                  console.error("❌ Error parsing URDF:", parseError);
+                  console.error("❌ Error parsing Urdf:", parseError);
                   toast.dismiss(parsingToast);
-                  toast.error("Error analyzing URDF", {
+                  toast.error("Error analyzing Urdf", {
                     description: `Error: ${
                       parseError instanceof Error
                         ? parseError.message
@@ -625,7 +625,7 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
                 }
               } else {
                 console.error(
-                  "❌ Could not find file for URDF model:",
+                  "❌ Could not find file for Urdf model:",
                   availableModels[0]
                 );
                 console.log("📦 Available files:", Object.keys(files));
@@ -653,13 +653,13 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
               });
             }
           } else {
-            // Multiple URDF files found, show selection modal
+            // Multiple Urdf files found, show selection modal
             console.log(
-              "📋 Multiple URDF files found, showing selection modal"
+              "📋 Multiple Urdf files found, showing selection modal"
             );
             setIsSelectionModalOpen(true);
 
-            // Notify that URDF files are available but selection is needed
+            // Notify that Urdf files are available but selection is needed
             notifyUrdfCallbacks({
               hasUrdf: true,
               modelName: "Multiple models available",
@@ -667,20 +667,20 @@ export const UrdfProvider: React.FC<UrdfProviderProps> = ({ children }) => {
           }
         } else {
           console.warn(
-            "❌ No URDF models found in dropped files or no processor available"
+            "❌ No Urdf models found in dropped files or no processor available"
           );
           notifyUrdfCallbacks({ hasUrdf: false, parsedData: null });
 
-          // Reset to default model when no URDF files are found
+          // Reset to default model when no Urdf files are found
           resetToDefaultModel();
 
-          toast.error("No URDF file found", {
+          toast.error("No Urdf file found", {
             description: "Please upload a folder containing a .urdf file.",
             duration: 3000,
           });
         }
       } catch (error) {
-        console.error("❌ Error processing URDF files:", error);
+        console.error("❌ Error processing Urdf files:", error);
         toast.error("Error processing files", {
           description: `Error: ${
             error instanceof Error ? error.message : String(error)

viewer/src/hooks/useUrdf.ts

@@ -1,7 +1,7 @@
 import { UrdfContextType, UrdfContext } from "@/contexts/UrdfContext";
 import { useContext } from "react";
 
-// Custom hook to use the URDF context
+// Custom hook to use the Urdf context
 export const useUrdf = (): UrdfContextType => {
   const context = useContext(UrdfContext);
   if (context === undefined) {

viewer/src/hooks/useUrdfData.ts

@@ -2,7 +2,7 @@ import { useQuery } from "@tanstack/react-query";
 import { getUrdfs, getCategories, getUrdfById } from "@/api/urdfApi";
 import { ContentItem, Category } from "@/lib/types";
 
-// Hook to fetch all URDFs
+// Hook to fetch all Urdfs
 export const useUrdfs = () => {
   return useQuery({
     queryKey: ["urdfs"],
@@ -19,7 +19,7 @@ export const useCategories = () => {
   });
 };
 
-// Hook to fetch a specific URDF by ID
+// Hook to fetch a specific Urdf by ID
 export const useUrdf = (id: string) => {
   return useQuery({
     queryKey: ["urdf", id],
@@ -28,7 +28,7 @@ export const useUrdf = (id: string) => {
   });
 };
 
-// Hook to get URDFs filtered by category
+// Hook to get Urdfs filtered by category
 export const useUrdfsByCategory = (categoryId: string) => {
   const urdfsQuery = useUrdfs();
 

viewer/src/hooks/useUrdfParser.ts

@@ -10,16 +10,16 @@ export const useUrdfParser = () => {
 
   const parseUrdf = async (urdfContent: string) => {
     const requestId = `urdf-${Date.now()}`; // Generate unique ID for tracking this request
-    console.log(`[${requestId}] 🚀 URDF Parser: Starting parse request`);
+    console.log(`[${requestId}] 🚀 Urdf Parser: Starting parse request`);
     console.log(
       `[${requestId}] 🔍 Content preview:`,
       urdfContent?.substring(0, 100) + "..."
     );
 
-    // Check if the URDF content is too large
+    // Check if the Urdf content is too large
     const MAX_SIZE = 4 * 1024 * 1024; // 4MB limit
     if (urdfContent.length > MAX_SIZE) {
-      const errorMessage = `URDF content too large (${(
+      const errorMessage = `Urdf content too large (${(
         urdfContent.length /
         1024 /
         1024
@@ -41,7 +41,7 @@ export const useUrdfParser = () => {
     try {
       // Make sure the urdfContent is a string
       if (typeof urdfContent !== "string") {
-        throw new Error("URDF content must be a string");
+        throw new Error("Urdf content must be a string");
       }
 
       console.log(
@@ -62,15 +62,15 @@ export const useUrdfParser = () => {
         if (error.message.includes("non-2xx status code")) {
           // Server error from edge function
           const serverErrorMsg =
-            "The URDF parser encountered a server error. It might be due to the complexity of your URDF file or temporary server issues.";
+            "The Urdf parser encountered a server error. It might be due to the complexity of your Urdf file or temporary server issues.";
           console.error(`[${requestId}] 🔥 Server error in edge function`);
 
           // Check if we got fallback data despite the error
           if (rawResponse && rawResponse.fallback) {
             console.log(`[${requestId}] 🛟 Using fallback data from server`);
-            toast.warning("Reduced URDF Data", {
+            toast.warning("Reduced Urdf Data", {
               description:
-                "Limited information extracted from your URDF file due to parsing limitations.",
+                "Limited information extracted from your Urdf file due to parsing limitations.",
               duration: 5000,
             });
 
@@ -79,7 +79,7 @@ export const useUrdfParser = () => {
             return rawResponse.fallback;
           }
 
-          toast.error("URDF Parser Error", {
+          toast.error("Urdf Parser Error", {
             description: serverErrorMsg,
             duration: 5000,
           });
@@ -88,7 +88,7 @@ export const useUrdfParser = () => {
         } else if (error.message.includes("timeout")) {
           // Timeout error
           const timeoutMsg =
-            "The URDF parser timed out. Your file might be too complex to process within the allowed time.";
+            "The Urdf parser timed out. Your file might be too complex to process within the allowed time.";
           console.error(`[${requestId}] ⏱️ Edge function timed out`);
 
           toast.error("Processing Timeout", {
@@ -101,7 +101,7 @@ export const useUrdfParser = () => {
           // Generic error
           setError(error.message);
 
-          toast.error("Error Parsing URDF", {
+          toast.error("Error Parsing Urdf", {
             description: error.message,
             duration: 5000,
           });
@@ -175,7 +175,7 @@ export const useUrdfParser = () => {
             other: jointTypes.other,
           },
           links: transformedLinks,
-          // Default materials since we don't have this info from URDF
+          // Default materials since we don't have this info from Urdf
           materials: [{ name: "Metal", percentage: 100 }],
         };
 
@@ -190,7 +190,7 @@ export const useUrdfParser = () => {
       const endTime = performance.now();
 
       console.error(
-        `[${requestId}] ❌ Error parsing URDF after ${(
+        `[${requestId}] ❌ Error parsing Urdf after ${(
           endTime - startTime
         ).toFixed(2)}ms:`,
         err
@@ -206,7 +206,7 @@ export const useUrdfParser = () => {
     } finally {
       setIsLoading(false);
       console.log(
-        `[${requestId}] 🏁 URDF parsing request completed, isLoading set to false`
+        `[${requestId}] 🏁 Urdf parsing request completed, isLoading set to false`
       );
     }
   };

viewer/src/lib/UrdfDragAndDrop.ts

@@ -1,8 +1,7 @@
-
 /**
- * URDF Drag and Drop Utility
+ * Urdf Drag and Drop Utility
  *
- * This file provides functionality for handling drag and drop of URDF folders.
+ * This file provides functionality for handling drag and drop of Urdf folders.
  * It converts the dropped files into accessible blobs for visualization.
  */
 
@@ -136,7 +135,7 @@ export function cleanFilePath(path: string): string {
 }
 
 /**
- * Interface representing the structure of an URDF processor
+ * Interface representing the structure of an Urdf processor
  */
 export interface UrdfProcessor {
   loadUrdf: (path: string) => void;
@@ -148,8 +147,8 @@ export interface UrdfProcessor {
 const packageRef = { current: "" };
 
 /**
- * Reads the content of a URDF file
- * @param file The URDF file object
+ * Reads the content of a Urdf file
+ * @param file The Urdf file object
  * @returns A promise that resolves with the content of the file as a string
  */
 export function readUrdfFileContent(file: File): Promise<string> {
@@ -159,10 +158,10 @@ export function readUrdfFileContent(file: File): Promise<string> {
       if (event.target && event.target.result) {
         resolve(event.target.result as string);
       } else {
-        reject(new Error("Failed to read URDF file content"));
+        reject(new Error("Failed to read Urdf file content"));
       }
     };
-    reader.onerror = () => reject(new Error("Error reading URDF file"));
+    reader.onerror = () => reject(new Error("Error reading Urdf file"));
     reader.readAsText(file);
   });
 }
@@ -170,7 +169,7 @@ export function readUrdfFileContent(file: File): Promise<string> {
 /**
  * Downloads a zip file from a URL and extracts its contents
  * @param zipUrl URL of the zip file to download
- * @param urdfProcessor The URDF processor to use for loading
+ * @param urdfProcessor The Urdf processor to use for loading
  * @returns A promise that resolves with the extraction results
  */
 export async function downloadAndExtractZip(
@@ -182,58 +181,62 @@ export async function downloadAndExtractZip(
   blobUrls: Record<string, string>;
 }> {
   console.log("🔄 Downloading zip file from:", zipUrl);
-  
+
   try {
     // Download the zip file
     const response = await fetch(zipUrl);
     if (!response.ok) {
       throw new Error(`Failed to download zip: ${response.statusText}`);
     }
-    
+
     const zipBlob = await response.blob();
-    
+
     // Load JSZip dynamically since it's much easier to work with than manual Blob handling
     // We use dynamic import to avoid adding a dependency
-    const JSZip = (await import('jszip')).default;
+    const JSZip = (await import("jszip")).default;
     const zip = new JSZip();
-    
+
     // Load the zip content
     const contents = await zip.loadAsync(zipBlob);
-    
+
     // Convert zip contents to files
     const files: Record<string, File> = {};
     const filePromises: Promise<void>[] = [];
-    
+
     // Process each file in the zip
     contents.forEach((relativePath, zipEntry) => {
       if (!zipEntry.dir) {
-        const promise = zipEntry.async('blob').then(blob => {
+        const promise = zipEntry.async("blob").then((blob) => {
           // Create a file with the proper name and path
-          const path = '/' + relativePath;
-          files[path] = new File([blob], relativePath.split('/').pop() || 'unknown', {
-            type: getMimeType(relativePath.split('.').pop() || '')
-          });
+          const path = "/" + relativePath;
+          files[path] = new File(
+            [blob],
+            relativePath.split("/").pop() || "unknown",
+            {
+              type: getMimeType(relativePath.split(".").pop() || ""),
+            }
+          );
         });
         filePromises.push(promise);
       }
     });
-    
+
     // Wait for all files to be processed
     await Promise.all(filePromises);
-    
+
     // Get all file paths and clean them
     const fileNames = Object.keys(files).map((n) => cleanFilePath(n));
-    
-    // Filter all files ending in URDF
+
+    // Filter all files ending in Urdf
     const availableModels = fileNames.filter((n) => /urdf$/i.test(n));
-    
-    // Create blob URLs for URDF files
+
+    // Create blob URLs for Urdf files
     const blobUrls: Record<string, string> = {};
     availableModels.forEach((path) => {
       blobUrls[path] = URL.createObjectURL(files[path]);
     });
-    
-    // Extract the package base path from the first URDF model for reference
+
+    // Extract the package base path from the first Urdf model for reference
     let packageBasePath = "";
     if (availableModels.length > 0) {
       // Extract the main directory path (e.g., '/cassie_description/')
@@ -243,51 +246,51 @@ export async function downloadAndExtractZip(
         packageBasePath = packageMatch[1];
       }
     }
-    
+
     // Store the package path for future reference
     const packagePathRef = packageBasePath;
     urdfProcessor.setUrlModifierFunc((url) => {
       // Find the matching file given the requested URL
-    
+
       // Store package reference for future use
       if (packagePathRef) {
         packageRef.current = packagePathRef;
       }
-    
+
       // Simple approach: just find the first file that matches the end of the URL
       const cleaned = cleanFilePath(url);
-    
+
       // Get the filename from the URL
       const urlFilename = cleaned.split("/").pop() || "";
-    
+
       // Find the first file that ends with this filename
       let fileName = fileNames.find((name) => name.endsWith(urlFilename));
-    
+
       // If no match found, just take the first file with a similar extension
       if (!fileName && urlFilename.includes(".")) {
         const extension = "." + urlFilename.split(".").pop();
         fileName = fileNames.find((name) => name.endsWith(extension));
       }
-    
+
       if (fileName !== undefined && fileName !== null) {
         // Extract file extension for content type
         const fileExtension = fileName.split(".").pop()?.toLowerCase() || "";
-    
+
         // Create blob URL with extension in the searchParams to help with format detection
         const blob = new Blob([files[fileName]], {
           type: getMimeType(fileExtension),
         });
         const blobUrl = URL.createObjectURL(blob) + "#." + fileExtension;
-    
+
         // Don't revoke immediately, wait for the mesh to be loaded
         setTimeout(() => URL.revokeObjectURL(blobUrl), 5000);
         return blobUrl;
       }
-    
+
       console.warn(`No matching file found for: ${url}`);
       return url;
     });
-    
+
     return {
       files,
       availableModels,
@@ -300,7 +303,7 @@ export async function downloadAndExtractZip(
 }
 
 /**
- * Processes dropped files and returns information about available URDF models
+ * Processes dropped files and returns information about available Urdf models
  */
 export async function processDroppedFiles(
   dataTransfer: DataTransfer,
@@ -319,16 +322,16 @@ export async function processDroppedFiles(
   // Get all file paths and clean them
   const fileNames = Object.keys(files).map((n) => cleanFilePath(n));
 
-  // Filter all files ending in URDF
+  // Filter all files ending in Urdf
   const availableModels = fileNames.filter((n) => /urdf$/i.test(n));
 
-  // Create blob URLs for URDF files
+  // Create blob URLs for Urdf files
   const blobUrls: Record<string, string> = {};
   availableModels.forEach((path) => {
     blobUrls[path] = URL.createObjectURL(files[path]);
   });
 
-  // Extract the package base path from the first URDF model for reference
+  // Extract the package base path from the first Urdf model for reference
   let packageBasePath = "";
   if (availableModels.length > 0) {
     // Extract the main directory path (e.g., '/cassie_description/')
@@ -410,4 +413,3 @@ function getMimeType(extension: string): string {
       return "application/octet-stream";
   }
 }
-

viewer/src/lib/types.ts

@@ -1,5 +1,5 @@
 /**
- * Shared type definitions for URDF parsing from supabase edge function
+ * Shared type definitions for Urdf parsing from supabase edge function
  */
 
 export interface UrdfData {
@@ -25,11 +25,11 @@ export interface UrdfData {
 }
 
 /**
- * Interface representing a URDF file model
+ * Interface representing a Urdf file model
  */
 export interface UrdfFileModel {
   /**
-   * Path to the URDF file
+   * Path to the Urdf file
    */
   path: string;
 
@@ -48,7 +48,7 @@ export interface UrdfFileModel {
  * Joint animation configuration interface
  */
 export interface JointAnimationConfig {
-  /** Joint name in the URDF */
+  /** Joint name in the Urdf */
   name: string;
   /** Animation type (sine, linear, etc.) */
   type: "sine" | "linear" | "constant";

viewer/src/lib/urdfAnimationHelpers.ts

@@ -1,19 +1,19 @@
 import { MathUtils } from "three";
 import { RobotAnimationConfig } from "@/lib/types";
 
-// Define the interface for the URDF viewer element
-export interface URDFViewerElement extends HTMLElement {
+// Define the interface for the Urdf viewer element
+export interface UrdfViewerElement extends HTMLElement {
   setJointValue: (joint: string, value: number) => void;
 }
 
 /**
  * Generalized animation function for any robot
- * @param viewer The URDF viewer element
+ * @param viewer The Urdf viewer element
  * @param config Configuration for the robot's joint animations
  * @returns A cleanup function to cancel the animation
  */
 export function animateRobot(
-  viewer: URDFViewerElement,
+  viewer: UrdfViewerElement,
   config: RobotAnimationConfig
 ): () => void {
   let animationFrameId: number | null = null;
@@ -92,10 +92,10 @@ export function animateRobot(
 
 /**
  * Animates a hexapod robot (like T12) with walking motion
- * @param viewer The URDF viewer element
+ * @param viewer The Urdf viewer element
  * @returns A cleanup function to cancel the animation
  */
-export function animateHexapodRobot(viewer: URDFViewerElement): () => void {
+export function animateHexapodRobot(viewer: UrdfViewerElement): () => void {
   let animationFrameId: number | null = null;
   let isRunning = true;
 

viewer/src/lib/urdfViewerHelpers.ts

@@ -1,10 +1,10 @@
 import { LoadingManager, Object3D } from "three";
 import { toast } from "sonner";
 import { loadMeshFile } from "./meshLoaders";
-import { URDFViewerElement } from "./urdfAnimationHelpers";
+import { UrdfViewerElement } from "./urdfAnimationHelpers";
 
-// Extended URDF Viewer Element with mesh loading capability
-export interface ExtendedURDFViewerElement extends URDFViewerElement {
+// Extended Urdf Viewer Element with mesh loading capability
+export interface ExtendedUrdfViewerElement extends UrdfViewerElement {
   loadMeshFunc: (
     path: string,
     manager: LoadingManager,
@@ -13,19 +13,19 @@ export interface ExtendedURDFViewerElement extends URDFViewerElement {
 }
 
 /**
- * Creates and configures a URDF viewer element
+ * Creates and configures a Urdf viewer element
  */
 export function createUrdfViewer(
   container: HTMLDivElement,
   isDarkMode: boolean
-): ExtendedURDFViewerElement {
+): ExtendedUrdfViewerElement {
   // Clear any existing content
   container.innerHTML = "";
 
   // Create the urdf-viewer element
   const viewer = document.createElement(
     "urdf-viewer"
-  ) as ExtendedURDFViewerElement;
+  ) as ExtendedUrdfViewerElement;
   viewer.classList.add("w-full", "h-full");
 
   // Add the element to the container
@@ -42,10 +42,10 @@ export function createUrdfViewer(
 }
 
 /**
- * Setup mesh loading function for URDF viewer
+ * Setup mesh loading function for Urdf viewer
  */
 export function setupMeshLoader(
-  viewer: ExtendedURDFViewerElement,
+  viewer: ExtendedUrdfViewerElement,
   urlModifierFunc: ((url: string) => string) | null
 ): void {
   if ("loadMeshFunc" in viewer) {
@@ -80,7 +80,7 @@ export function setupMeshLoader(
  * Setup event handlers for joint highlighting
  */
 export function setupJointHighlighting(
-  viewer: URDFViewerElement,
+  viewer: UrdfViewerElement,
   setHighlightedJoint: (joint: string | null) => void
 ): () => void {
   const onJointMouseover = (e: Event) => {
@@ -107,7 +107,7 @@ export function setupJointHighlighting(
  * Setup model loading and error handling
  */
 export function setupModelLoading(
-  viewer: URDFViewerElement,
+  viewer: UrdfViewerElement,
   urdfPath: string,
   packagePath: string,
   setCustomUrdfPath: (path: string) => void,
@@ -119,14 +119,14 @@ export function setupModelLoading(
       ? urdfPath + "#.urdf" // Add extension hint if it's a blob URL
       : urdfPath;
 
-  // Set the URDF path
+  // Set the Urdf path
   viewer.setAttribute("urdf", loadPath);
   viewer.setAttribute("package", packagePath);
 
   // Handle error loading
   const onLoadError = () => {
     toast.error("Failed to load model", {
-      description: "There was an error loading the URDF model.",
+      description: "There was an error loading the Urdf model.",
       duration: 3000,
     });
 

viewer/supabase/functions/README.md

@@ -1,23 +1,24 @@
-
 # Supabase Edge Functions
 
 This directory contains Edge Functions that can be deployed to Supabase.
 
 ## Available Functions
 
-- `urdf-parser`: Extracts metadata from URDF files using OpenAI
-- `create-animation`: Generates animations for URDF models based on user instructions
+- `urdf-parser`: Extracts metadata from Urdf files using OpenAI
+- `create-animation`: Generates animations for Urdf models based on user instructions
 
 ## Deployment Instructions
 
 ### Prerequisites
 
 1. Install Supabase CLI:
+
    ```
    npm install -g supabase
    ```
 
 2. Login to Supabase:
+
    ```
    npx supabase login
    ```

viewer/supabase/functions/urdf-parser/index.ts

@@ -1,7 +1,7 @@
 import { XMLParser } from "npm:[email protected]";
 import { serve } from "https://deno.land/[email protected]/http/server.ts";
 
-interface URDFLink {
+interface UrdfLink {
   name: string;
   mass: number;
   inertia: {
@@ -16,7 +16,7 @@ interface URDFLink {
   has_collision: boolean;
 }
 
-interface URDFJoint {
+interface UrdfJoint {
   name: string;
   type: string;
   parent: string;
@@ -50,10 +50,10 @@ serve(async (req) => {
     const { urdfContent } = await req.json();
 
     if (!urdfContent) {
-      throw new Error("No URDF content provided");
+      throw new Error("No Urdf content provided");
     }
 
-    // Parse URDF XML using fast-xml-parser
+    // Parse Urdf XML using fast-xml-parser
     const parser = new XMLParser({
       ignoreAttributes: false,
       attributeNamePrefix: "",
@@ -63,15 +63,15 @@ serve(async (req) => {
     const doc = parser.parse(urdfContent);
 
     if (!doc || !doc.robot) {
-      throw new Error("No robot element found in URDF");
+      throw new Error("No robot element found in Urdf");
     }
 
     // Extract robot data
     const robotElement = doc.robot;
     const name = robotElement.name || "unnamed_robot";
     const version = robotElement.version;
-    const links: URDFLink[] = [];
-    const joints: URDFJoint[] = [];
+    const links: UrdfLink[] = [];
+    const joints: UrdfJoint[] = [];
     let total_mass = 0;
 
     // Parse links
@@ -85,7 +85,7 @@ serve(async (req) => {
         const mass = inertial?.mass?.value || 0;
         total_mass += mass;
 
-        const linkData: URDFLink = {
+        const linkData: UrdfLink = {
           name: linkName,
           mass,
           inertia: {
@@ -123,7 +123,7 @@ serve(async (req) => {
         ? robotElement.joint
         : [robotElement.joint];
       jointElements.forEach((joint: any) => {
-        const jointData: URDFJoint = {
+        const jointData: UrdfJoint = {
           name: joint.name || "",
           type: joint.type || "",
           parent: joint.parent?.link || "",
@@ -164,7 +164,7 @@ serve(async (req) => {
       },
     });
   } catch (error) {
-    console.error("Error parsing URDF:", error);
+    console.error("Error parsing Urdf:", error);
     return new Response(
       JSON.stringify({
         success: false,