Threejs实现机械臂运动，机械臂dae格式模型，模型下载

// 添加坊的模型
function initFang() {
  var loader = new THREE.ColladaLoader();
  loader.load('assets/models/abb_irb52_7_120.dae', function(collada) {
    dae = collada.scene;
    dae.traverse(function(child) {
      if (child.isMesh) {
        // model does not have normals
        child.material.flatShading = true;
      }
    });
    // dae.scale = 1000;
    dae.updateMatrix();
    kinematics = collada.kinematics;
    console.log(kinematics)
    scene.add(dae);
    setupTween();
  });
}
function setupTween() {
  const duration = THREE.Math.randInt(1000, 2000);
  const target = {};
  for (const prop in kinematics.joints) {
    if (kinematics.joints.hasOwnProperty(prop)) {
      if (!kinematics.joints[prop].static) {
        const joint = kinematics.joints[prop];
        const old = tweenParameters[prop];
        const position = old ? old : joint.zeroPosition;
        tweenParameters[prop] = position;
        target[prop] = THREE.Math.randInt(joint.limits.min, joint.limits.max);
      }
    }
  }
  kinematicsTween = new TWEEN.Tween(tweenParameters).to(target, duration).easing(TWEEN.Easing.Quadratic.Out);
  kinematicsTween.onUpdate(function(object) {
    for (const prop in kinematics.joints) {
      if (kinematics.joints.hasOwnProperty(prop)) {
        if (!kinematics.joints[prop].static) {
          kinematics.setJointValue(prop, this[prop]);
        }
      }
    }
  });
  kinematicsTween.start();
  setTimeout(setupTween, duration);
}