@ioai/robot_viewer 0.0.0-stage → 1.1.2

package/dist/assets/js/URDFLoader-a34b6917.js

@@ -0,0 +1 @@
+import{Vector3 as t,Matrix4 as i,Euler as e,Quaternion as s,Object3D as o,DefaultLoadingManager as n,LoaderUtils as r,Mesh as a,MeshPhongMaterial as l,TextureLoader as u,SRGBColorSpace as h,BoxGeometry as c,SphereGeometry as m,CylinderGeometry as d}from"./three-9c891de0.js";import{STLLoader as p}from"./STLLoader-de0915d4.js";import{ColladaLoader as f}from"./ColladaLoader-2a0c4638.js";const g=new t,j=new e,w=new i,y=new i,V=new s,b=new t(1,1,1),N=new t;class x extends o{constructor(...t){super(...t),this.urdfNode=null,this.urdfName=""}copy(t,i){return super.copy(t,i),this.urdfNode=t.urdfNode,this.urdfName=t.urdfName,this}}class A extends x{constructor(...t){super(...t),this.isURDFCollider=!0,this.type="URDFCollider"}}class F extends x{constructor(...t){super(...t),this.isURDFVisual=!0,this.type="URDFVisual"}}class L extends x{constructor(...t){super(...t),this.isURDFLink=!0,this.type="URDFLink"}}class k extends x{get jointType(){return this._jointType}set jointType(i){if(this.jointType!==i)switch(this._jointType=i,this.matrixWorldNeedsUpdate=!0,i){case"fixed":this.jointValue=[];break;case"continuous":case"revolute":case"prismatic":this.jointValue=new Array(1).fill(0);break;case"planar":this.jointValue=new Array(3).fill(0),this.axis=new t(0,0,1);break;case"floating":this.jointValue=new Array(6).fill(0)}}get angle(){return this.jointValue[0]}constructor(...i){super(...i),this.isURDFJoint=!0,this.type="URDFJoint",this.jointValue=null,this.jointType="fixed",this.axis=new t(1,0,0),this.limit={lower:0,upper:0},this.ignoreLimits=!1,this.origPosition=null,this.origQuaternion=null,this.mimicJoints=[]}copy(t,i){return super.copy(t,i),this.jointType=t.jointType,this.axis=t.axis.clone(),this.limit.lower=t.limit.lower,this.limit.upper=t.limit.upper,this.ignoreLimits=!1,this.jointValue=[...t.jointValue],this.origPosition=t.origPosition?t.origPosition.clone():null,this.origQuaternion=t.origQuaternion?t.origQuaternion.clone():null,this.mimicJoints=[...t.mimicJoints],this}setJointValue(...t){t=t.map(t=>null===t?null:parseFloat(t)),this.origPosition&&this.origQuaternion||(this.origPosition=this.position.clone(),this.origQuaternion=this.quaternion.clone());let i=!1;switch(this.mimicJoints.forEach(e=>{i=e.updateFromMimickedJoint(...t)||i}),this.jointType){case"fixed":return i;case"continuous":case"revolute":{let e=t[0];return null==e||e===this.jointValue[0]?i:(this.ignoreLimits||"revolute"!==this.jointType||(e=Math.min(this.limit.upper,e),e=Math.max(this.limit.lower,e)),this.quaternion.setFromAxisAngle(this.axis,e).premultiply(this.origQuaternion),this.jointValue[0]!==e?(this.jointValue[0]=e,this.matrixWorldNeedsUpdate=!0,!0):i)}case"prismatic":{let e=t[0];return null==e||e===this.jointValue[0]?i:(this.ignoreLimits||(e=Math.min(this.limit.upper,e),e=Math.max(this.limit.lower,e)),this.position.copy(this.origPosition),g.copy(this.axis).applyEuler(this.rotation),this.position.addScaledVector(g,e),this.jointValue[0]!==e?(this.jointValue[0]=e,this.matrixWorldNeedsUpdate=!0,!0):i)}case"floating":return this.jointValue.every((i,e)=>t[e]===i||null===t[e])?i:(this.jointValue[0]=null!==t[0]?t[0]:this.jointValue[0],this.jointValue[1]=null!==t[1]?t[1]:this.jointValue[1],this.jointValue[2]=null!==t[2]?t[2]:this.jointValue[2],this.jointValue[3]=null!==t[3]?t[3]:this.jointValue[3],this.jointValue[4]=null!==t[4]?t[4]:this.jointValue[4],this.jointValue[5]=null!==t[5]?t[5]:this.jointValue[5],y.compose(this.origPosition,this.origQuaternion,b),V.setFromEuler(j.set(this.jointValue[3],this.jointValue[4],this.jointValue[5],"XYZ")),N.set(this.jointValue[0],this.jointValue[1],this.jointValue[2]),w.compose(N,V,b),y.premultiply(w),this.position.setFromMatrixPosition(y),this.rotation.setFromRotationMatrix(y),this.matrixWorldNeedsUpdate=!0,!0);case"planar":return this.jointValue.every((i,e)=>t[e]===i||null===t[e])?i:(this.jointValue[0]=null!==t[0]?t[0]:this.jointValue[0],this.jointValue[1]=null!==t[1]?t[1]:this.jointValue[1],this.jointValue[2]=null!==t[2]?t[2]:this.jointValue[2],y.compose(this.origPosition,this.origQuaternion,b),V.setFromAxisAngle(this.axis,this.jointValue[2]),N.set(this.jointValue[0],this.jointValue[1],0),w.compose(N,V,b),y.premultiply(w),this.position.setFromMatrixPosition(y),this.rotation.setFromRotationMatrix(y),this.matrixWorldNeedsUpdate=!0,!0)}return i}}class J extends k{constructor(...t){super(...t),this.type="URDFMimicJoint",this.mimicJoint=null,this.offset=0,this.multiplier=1}updateFromMimickedJoint(...t){const i=t.map(t=>t*this.multiplier+this.offset);return super.setJointValue(...i)}copy(t,i){return super.copy(t,i),this.mimicJoint=t.mimicJoint,this.offset=t.offset,this.multiplier=t.multiplier,this}}class R extends L{constructor(...t){super(...t),this.isURDFRobot=!0,this.urdfNode=null,this.urdfRobotNode=null,this.robotName=null,this.links=null,this.joints=null,this.colliders=null,this.visual=null,this.frames=null}copy(t,i){super.copy(t,i),this.urdfRobotNode=t.urdfRobotNode,this.robotName=t.robotName,this.links={},this.joints={},this.colliders={},this.visual={},this.traverse(i=>{i.isURDFJoint&&i.urdfName in t.joints&&(this.joints[i.urdfName]=i),i.isURDFLink&&i.urdfName in t.links&&(this.links[i.urdfName]=i),i.isURDFCollider&&i.urdfName in t.colliders&&(this.colliders[i.urdfName]=i),i.isURDFVisual&&i.urdfName in t.visual&&(this.visual[i.urdfName]=i)});for(const e in this.joints)this.joints[e].mimicJoints=this.joints[e].mimicJoints.map(t=>this.joints[t.name]);return this.frames={...this.colliders,...this.visual,...this.links,...this.joints},this}getFrame(t){return this.frames[t]}setJointValue(t,...i){const e=this.joints[t];return!!e&&e.setJointValue(...i)}setJointValues(t){let i=!1;for(const e in t){const s=t[e];i=Array.isArray(s)?this.setJointValue(e,...s)||i:this.setJointValue(e,s)||i}return i}}const U=new s,C=new e;function E(t){return t?t.trim().split(/\s+/g).map(t=>parseFloat(t)):[0,0,0]}function D(t,i,e=!1){e||t.rotation.set(0,0,0),C.set(i[0],i[1],i[2],"ZYX"),U.setFromEuler(C),U.multiply(t.quaternion),t.quaternion.copy(U)}class M{constructor(t){this.manager=t||n,this.loadMeshCb=this.defaultMeshLoader.bind(this),this.parseVisual=!0,this.parseCollision=!1,this.packages="",this.workingPath="",this.fetchOptions={}}loadAsync(t){return new Promise((i,e)=>{this.load(t,i,null,e)})}load(t,i,e,s){const o=this.manager,n=r.extractUrlBase(t),a=this.manager.resolveURL(t);o.itemStart(a),fetch(a,this.fetchOptions).then(t=>{if(t.ok)return e&&e(null),t.text();throw new Error(`URDFLoader: Failed to load url '${a}' with error code ${t.status} : ${t.statusText}.`)}).then(t=>{const e=this.parse(t,this.workingPath||n);i(e),o.itemEnd(a)}).catch(t=>{s&&s(t),o.itemError(a),o.itemEnd(a)})}parse(i,e=this.workingPath){const s=this.packages,o=this.loadMeshCb,n=this.parseVisual,r=this.parseCollision,p=this.manager,f={},g={},j={};function w(t){if(!/^package:\/\//.test(t))return e?e+t:t;const[i,o]=t.replace(/^package:\/\//,"").split(/\/(.+)/);return"string"==typeof s?s.endsWith(i)?s+"/"+o:s+"/"+i+"/"+o:s instanceof Function?s(i)+"/"+o:"object"==typeof s?i in s?s[i]+"/"+o:null:void 0}function y(t){const i=[...t.children],e=new l;return e.name=t.getAttribute("name")||"",i.forEach(t=>{const i=t.nodeName.toLowerCase();if("color"===i){const i=t.getAttribute("rgba").split(/\s/g).map(t=>parseFloat(t));e.color.setRGB(i[0],i[1],i[2]),e.opacity=i[3],e.transparent=i[3]<1,e.depthWrite=!e.transparent}else if("texture"===i){const i=t.getAttribute("filename");if(i){const t=new u(p),s=w(i);e.map=t.load(s),e.map.colorSpace=h}}}),e}function V(t,i={}){const e="collision"===t.nodeName.toLowerCase(),s=[...t.children];let n=null;const r=s.filter(t=>"material"===t.nodeName.toLowerCase())[0];if(r){const t=r.getAttribute("name");n=t&&t in i?i[t]:y(r)}else n=new l;const u=e?new A:new F;return u.urdfNode=t,s.forEach(t=>{const i=t.nodeName.toLowerCase();if("geometry"===i){const i=t.children[0].nodeName.toLowerCase();if("mesh"===i){const i=w(t.children[0].getAttribute("filename"));if(null!==i){const e=t.children[0].getAttribute("scale");if(e){const t=E(e);u.scale.set(t[0],t[1],t[2])}o(i,p,(t,i)=>{i||t&&(t instanceof a&&(t.material=n),t.position.set(0,0,0),t.quaternion.identity(),u.add(t))})}}else if("box"===i){const i=new a;i.geometry=new c(1,1,1),i.material=n;const e=E(t.children[0].getAttribute("size"));i.scale.set(e[0],e[1],e[2]),u.add(i)}else if("sphere"===i){const i=new a;i.geometry=new m(1,30,30),i.material=n;const e=parseFloat(t.children[0].getAttribute("radius"))||0;i.scale.set(e,e,e),u.add(i)}else if("cylinder"===i){const i=new a;i.geometry=new d(1,1,1,30),i.material=n;const e=parseFloat(t.children[0].getAttribute("radius"))||0,s=parseFloat(t.children[0].getAttribute("length"))||0;i.scale.set(e,s,e),i.rotation.set(Math.PI/2,0,0),u.add(i)}}else if("origin"===i){const i=E(t.getAttribute("xyz")),e=E(t.getAttribute("rpy"));u.position.set(i[0],i[1],i[2]),u.rotation.set(0,0,0),D(u,e)}}),u}return function(i){let e;if(i instanceof Document)e=[...i.children];else if(i instanceof Element)e=[i];else{e=[...(new DOMParser).parseFromString(i,"text/xml").children]}return function(i){const e=[...i.children],s=e.filter(t=>"link"===t.nodeName.toLowerCase()),o=e.filter(t=>"joint"===t.nodeName.toLowerCase()),a=e.filter(t=>"material"===t.nodeName.toLowerCase()),l=new R;l.robotName=i.getAttribute("name"),l.urdfRobotNode=i,a.forEach(t=>{const i=t.getAttribute("name");j[i]=y(t)});const u={},h={};s.forEach(t=>{const e=t.getAttribute("name"),s=null===i.querySelector(`child[link="${e}"]`);f[e]=function(t,i,e,s=null){null===s&&(s=new L);const o=[...t.children];if(s.name=t.getAttribute("name"),s.urdfName=s.name,s.urdfNode=t,n){o.filter(t=>"visual"===t.nodeName.toLowerCase()).forEach(t=>{const e=V(t,j);if(s.add(e),t.hasAttribute("name")){const s=t.getAttribute("name");e.name=s,e.urdfName=s,i[s]=e}})}if(r){o.filter(t=>"collision"===t.nodeName.toLowerCase()).forEach(t=>{const i=V(t);if(s.add(i),t.hasAttribute("name")){const s=t.getAttribute("name");i.name=s,i.urdfName=s,e[s]=i}})}return s}(t,u,h,s?l:null)}),o.forEach(i=>{const e=i.getAttribute("name");g[e]=function(i){const e=[...i.children],s=i.getAttribute("type");let o;const n=e.find(t=>"mimic"===t.nodeName.toLowerCase());n?(o=new J,o.mimicJoint=n.getAttribute("joint"),o.multiplier=parseFloat(n.getAttribute("multiplier")||1),o.offset=parseFloat(n.getAttribute("offset")||0)):o=new k;o.urdfNode=i,o.name=i.getAttribute("name"),o.urdfName=o.name,o.jointType=s;let r=null,a=null,l=[0,0,0],u=[0,0,0];e.forEach(t=>{const i=t.nodeName.toLowerCase();"origin"===i?(l=E(t.getAttribute("xyz")),u=E(t.getAttribute("rpy"))):"child"===i?a=f[t.getAttribute("link")]:"parent"===i?r=f[t.getAttribute("link")]:"limit"===i&&(o.limit.lower=parseFloat(t.getAttribute("lower")||o.limit.lower),o.limit.upper=parseFloat(t.getAttribute("upper")||o.limit.upper))}),r.add(o),o.add(a),D(o,u),o.position.set(l[0],l[1],l[2]);const h=e.filter(t=>"axis"===t.nodeName.toLowerCase())[0];if(h){const i=h.getAttribute("xyz").split(/\s+/g).map(t=>parseFloat(t));o.axis=new t(i[0],i[1],i[2]),o.axis.normalize()}return o}(i)}),l.joints=g,l.links=f,l.colliders=h,l.visual=u;const c=Object.values(g);return c.forEach(t=>{t instanceof J&&g[t.mimicJoint].mimicJoints.push(t)}),c.forEach(t=>{const i=new Set,e=t=>{if(i.has(t))throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");i.add(t),t.mimicJoints.forEach(t=>{e(t)})};e(t)}),l.frames={...h,...u,...f,...g},l}(e.filter(t=>"robot"===t.nodeName).pop())}(i)}defaultMeshLoader(t,i,e){if(/\.stl$/i.test(t)){new p(i).load(t,t=>{const i=new a(t,new l);e(i)})}else if(/\.dae$/i.test(t)){new f(i).load(t,t=>e(t.scene))}}}export{M as default};

package/dist/assets/js/USDZLoader-64197f74.js

@@ -0,0 +1,7 @@
+import{Loader as e,FileLoader as r,Group as n,Mesh as t,Object3D as o,BufferGeometry as a,BufferAttribute as i,MeshPhysicalMaterial as s,SRGBColorSpace as f,NoColorSpace as c,TextureLoader as l,Vector2 as u,ClampToEdgeWrapping as p,MirroredRepeatWrapping as d,RepeatWrapping as m}from"./three-9c891de0.js";
+/*!
+fflate - fast JavaScript compression/decompression
+<https://101arrowz.github.io/fflate>
+Licensed under MIT. https://github.com/101arrowz/fflate/blob/master/LICENSE
+version 0.8.2
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package/dist/assets/js/__vite-browser-external-afb87ea8.js

@@ -0,0 +1 @@
+const t={};export{t as default};