diff --git a/examples/loaders/urdf_loader.cpp b/examples/loaders/urdf_loader.cpp
index 650eb142..8e831d65 100644
--- a/examples/loaders/urdf_loader.cpp
+++ b/examples/loaders/urdf_loader.cpp
@@ -8,9 +8,16 @@ using namespace threepp;
 
 int main(int argc, char** argv) {
 
-    if (argc != 2) return 1;
+    if (argc != 2) {
+        std::cerr << "Usage: " << argv[0] << " <urdf file>" << std::endl;
+        return 1;
+    }
 
-    std::string urdfPath = argv[1];
+    std::filesystem::path urdfPath = argv[1];
+    if (!std::filesystem::exists(urdfPath)) {
+        std::cerr << "File not found: " << urdfPath << std::endl;
+        return 1;
+    }
 
     Canvas canvas{"URDF loader", {{"aa", 4}}};
     GLRenderer renderer(canvas.size());
@@ -38,7 +45,7 @@ int main(int argc, char** argv) {
 
     Vector3 size;
     bb.getSize(size);
-    camera->position.copy(size).multiplyScalar(1.5).setX(0);
+    camera->position.set(0, size.y * 1.5f, size.z * 3.f);
     controls.update();
 
     canvas.onWindowResize([&](WindowSize size) {
@@ -51,10 +58,10 @@ int main(int argc, char** argv) {
     canvas.animate([&]() {
         const auto dt = clock.getDelta();
 
-        model->getObjectByName("joint_1")->rotation.y += dt * 0.1;
-        model->getObjectByName("joint_2")->rotation.z += dt * 0.1;
-        model->getObjectByName("joint_3")->rotation.z += dt * 0.1;
-        model->getObjectByName("joint_4")->rotation.x += dt * 0.1;
+        model->getObjectByName("joint_1")->rotation.y += dt * 0.1f;
+        model->getObjectByName("joint_2")->rotation.z += dt * 0.1f;
+        model->getObjectByName("joint_3")->rotation.z += dt * 0.1f;
+        model->getObjectByName("joint_4")->rotation.x += dt * 0.1f;
         // model->getObjectByName("joint_5")->rotation.y += dt * 0.1;
         // model->getObjectByName("joint_6")->rotation.y += dt * 0.1;
 
@@ -62,5 +69,4 @@ int main(int argc, char** argv) {
 
         renderer.render(*scene, *camera);
     });
-
-}
\ No newline at end of file
+}
diff --git a/include/threepp/loaders/Loader.hpp b/include/threepp/loaders/Loader.hpp
new file mode 100644
index 00000000..b5f43303
--- /dev/null
+++ b/include/threepp/loaders/Loader.hpp
@@ -0,0 +1,20 @@
+
+#ifndef THREEPP_LOADER_HPP
+#define THREEPP_LOADER_HPP
+
+#include <filesystem>
+#include <memory>
+
+namespace threepp {
+
+    template<class T>
+    class Loader {
+    public:
+        virtual std::shared_ptr<T> load(const std::filesystem::path& path) = 0;
+
+        virtual ~Loader() = default;
+    };
+
+}// namespace threepp
+
+#endif//THREEPP_LOADER_HPP
diff --git a/include/threepp/loaders/URDFLoader.hpp b/include/threepp/loaders/URDFLoader.hpp
index 77d22fd3..d39fde50 100644
--- a/include/threepp/loaders/URDFLoader.hpp
+++ b/include/threepp/loaders/URDFLoader.hpp
@@ -2,21 +2,15 @@
 #ifndef THREEPP_URDFLOADER_HPP
 #define THREEPP_URDFLOADER_HPP
 
-#include <memory>
+#include "threepp/loaders/Loader.hpp"
+
 #include <filesystem>
+#include <memory>
 
 namespace threepp {
 
     class Group;
 
-    template <class T>
-    class Loader {
-    public:
-        virtual std::shared_ptr<T> load(const std::filesystem::path& path) = 0;
-
-        virtual ~Loader() = default;
-    };
-
     class URDFLoader {
 
     public:
@@ -31,6 +25,6 @@ namespace threepp {
         std::unique_ptr<Impl> pimpl_;
     };
 
-}
+}// namespace threepp
 
 #endif//THREEPP_URDFLOADER_HPP
diff --git a/src/threepp/loaders/URDFLoader.cpp b/src/threepp/loaders/URDFLoader.cpp
index dca8e81f..519d73a9 100644
--- a/src/threepp/loaders/URDFLoader.cpp
+++ b/src/threepp/loaders/URDFLoader.cpp
@@ -31,6 +31,32 @@ namespace {
                 -utils::parseFloat(xyz[2]));
     }
 
+    std::filesystem::path getModelPath(const std::filesystem::path& basePath, std::string fileName) {
+
+        if (fileName.find("package://") != std::string::npos) {
+
+            fileName = fileName.substr(10);
+
+            //find parent path with package.xml
+            bool packageFound = false;
+            auto packagePath = basePath.parent_path();
+            for (int i = 0; i < 10; ++i) {
+                if (exists(packagePath / "package.xml")) {
+                    packageFound = true;
+                    break;
+                }
+                packagePath = packagePath.parent_path();
+            }
+            if (!packageFound) {
+                return "";
+            }
+
+            return packagePath.parent_path().string() + "/" + fileName;
+        }
+
+        return fileName;
+    }
+
 }// namespace
 
 struct URDFLoader::Impl {
@@ -50,7 +76,7 @@ struct URDFLoader::Impl {
         object->name = root.attribute("name").as_string("robot");
 
         std::vector<std::shared_ptr<Object3D>> links;
-        for (auto link : root.children("link")) {
+        for (const auto link : root.children("link")) {
 
             auto linkObject = std::make_shared<Object3D>();
             linkObject->name = link.attribute("name").value();
@@ -59,7 +85,7 @@ struct URDFLoader::Impl {
             //     object->add(linkObject);
             // }
 
-            for (auto visual : link.children("visual")) {
+            for (const auto visual : link.children("visual")) {
 
                 auto visualObject = std::make_shared<Object3D>();
                 visualObject->name = visual.attribute("name").value();
@@ -67,32 +93,12 @@ struct URDFLoader::Impl {
                 visualObject->position.copy(getXYZ(visual));
                 visualObject->rotation.copy(getRPY(visual));
 
-                for (auto geometry : visual.children("geometry")) {
+                for (const auto geometry : visual.children("geometry")) {
 
                     auto mesh = geometry.child("mesh");
-                    auto fileName = std::string(mesh.attribute("filename").value());
-
-                    if (fileName.find("package://") == 0) {
-                        fileName = fileName.substr(10);
-                        //find parent path with package.xml
-                        bool packageFound = false;
-                        auto packagePath = path.parent_path();
-                        for (int i = 0; i < 10; ++i) {
-                            if (exists(packagePath / "package.xml")) {
-                                packageFound = true;
-                                break;
-                            }
-                            packagePath = packagePath.parent_path();
-                        }
-                        if (!packageFound) {
-                            return nullptr;
-                        }
-
-                        fileName = packagePath.parent_path().string() + "/" + fileName;
-                    }
+                    auto fileName = getModelPath(path, mesh.attribute("filename").value());
 
-                    auto load = loader.load(fileName);
-                    if (load) {
+                    if (auto load = loader.load(fileName)) {
                         visualObject->add(load);
                     }
                 }
@@ -116,7 +122,7 @@ struct URDFLoader::Impl {
             links.emplace_back(linkObject);
         }
 
-        for (auto joint : root.children("joint")) {
+        for (const auto joint : root.children("joint")) {
 
             auto jointObject = std::make_shared<Object3D>();
             jointObject->name = joint.attribute("name").value();