@operato/scene-urdf 1.2.2

package/dist/elements/urdf-viewer-element.js

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+import * as THREE from 'three';
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
+import URDFLoader from 'urdf-loader/src/URDFLoader';
+import { XacroLoader } from 'xacro-parser';
+// urdf-viewer element
+// Loads and displays a 3D view of a URDF-formatted robot
+// Events
+// urdf-change: Fires when the URDF has finished loading and getting processed
+// urdf-processed: Fires when the URDF has finished loading and getting processed
+// geometry-loaded: Fires when all the geometry has been fully loaded
+// ignore-limits-change: Fires when the 'ignore-limits' attribute changes
+// angle-change: Fires when an angle changes
+export default class URDFViewerElement extends HTMLElement {
+    static get observedAttributes() {
+        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter'];
+    }
+    get package() {
+        return this.getAttribute('package') || '';
+    }
+    set package(val) {
+        this.setAttribute('package', val);
+    }
+    get urdf() {
+        return this.getAttribute('urdf') || '';
+    }
+    set urdf(val) {
+        this.setAttribute('urdf', val);
+    }
+    get ignoreLimits() {
+        return this.hasAttribute('ignore-limits') || false;
+    }
+    set ignoreLimits(val) {
+        val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits');
+    }
+    get up() {
+        return this.getAttribute('up') || '+Z';
+    }
+    set up(val) {
+        this.setAttribute('up', val);
+    }
+    get displayShadow() {
+        return this.hasAttribute('display-shadow') || false;
+    }
+    set displayShadow(val) {
+        val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow');
+    }
+    get ambientColor() {
+        return this.getAttribute('ambient-color') || '#455A64';
+    }
+    set ambientColor(val) {
+        val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color');
+    }
+    get noAutoRecenter() {
+        return this.hasAttribute('no-auto-recenter') || false;
+    }
+    set noAutoRecenter(val) {
+        val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter');
+    }
+    get jointValues() {
+        const values = {};
+        if (this.robot) {
+            for (const name in this.robot.joints) {
+                const joint = this.robot.joints[name];
+                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
+            }
+        }
+        return values;
+    }
+    set jointValues(val) {
+        this.setJointValues(val);
+    }
+    get angles() {
+        return this.jointValues;
+    }
+    set angles(v) {
+        this.jointValues = v;
+    }
+    /* Lifecycle Functions */
+    constructor() {
+        super();
+        this._requestId = 0;
+        this._dirty = true;
+        this._loadScheduled = false;
+        const scene = new THREE.Scene();
+        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');
+        ambientLight.groundColor.lerp(ambientLight.color, 0.5);
+        ambientLight.intensity = 0.5;
+        ambientLight.position.set(0, 1, 0);
+        scene.add(ambientLight);
+        // Light setup
+        const dirLight = new THREE.DirectionalLight(0xffffff);
+        dirLight.position.set(4, 10, 1);
+        dirLight.shadow.mapSize.width = 2048;
+        dirLight.shadow.mapSize.height = 2048;
+        dirLight.shadow.normalBias = 0.001;
+        dirLight.castShadow = true;
+        scene.add(dirLight);
+        scene.add(dirLight.target);
+        // Renderer setup
+        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+        renderer.setClearColor(0xffffff);
+        renderer.setClearAlpha(0);
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+        // Camera setup
+        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
+        camera.position.z = -10;
+        // World setup
+        const world = new THREE.Object3D();
+        scene.add(world);
+        const plane = new THREE.Mesh(new THREE.PlaneBufferGeometry(40, 40), new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }));
+        plane.rotation.x = -Math.PI / 2;
+        plane.position.y = -0.5;
+        plane.receiveShadow = true;
+        plane.scale.set(10, 10, 10);
+        scene.add(plane);
+        // Controls setup
+        const controls = new OrbitControls(camera, renderer.domElement);
+        controls.rotateSpeed = 2.0;
+        controls.zoomSpeed = 5;
+        controls.panSpeed = 2;
+        controls.enableZoom = true;
+        controls.enableDamping = false;
+        controls.maxDistance = 50;
+        controls.minDistance = 0.25;
+        controls.addEventListener('change', () => this.recenter());
+        this.scene = scene;
+        this.world = world;
+        this.renderer = renderer;
+        this.camera = camera;
+        this.controls = controls;
+        this.plane = plane;
+        this.directionalLight = dirLight;
+        this.ambientLight = ambientLight;
+        this._setUp(this.up);
+    }
+    connectedCallback() {
+        if (!this.querySelector('canvas')) {
+            var canvas = this.renderer.domElement;
+            canvas.style.display = 'block';
+            canvas.style.width = '100%';
+            canvas.style.height = '100%';
+            this.appendChild(canvas);
+        }
+        requestAnimationFrame(() => this.recenter());
+    }
+    disconnectedCallback() { }
+    attributeChangedCallback(attr, oldval, newval) {
+        this.recenter();
+        switch (attr) {
+            case 'package':
+            case 'urdf': {
+                this._scheduleLoad();
+                break;
+            }
+            case 'up': {
+                this._setUp(this.up);
+                break;
+            }
+            case 'ambient-color': {
+                this.ambientLight.color.set(this.ambientColor);
+                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);
+                break;
+            }
+            case 'ignore-limits': {
+                this._setIgnoreLimits(this.ignoreLimits, true);
+                break;
+            }
+        }
+    }
+    /* Public API */
+    updateSize() {
+        const r = this.renderer;
+        const w = this.clientWidth;
+        const h = this.clientHeight;
+        const currsize = r.getSize(new THREE.Vector2());
+        if (currsize.width !== w || currsize.height !== h) {
+            this.recenter();
+        }
+        r.setPixelRatio(window.devicePixelRatio);
+        r.setSize(w, h, false);
+        this.camera.aspect = w / h;
+        this.camera.updateProjectionMatrix();
+    }
+    redraw() {
+        if (this.parentNode && this._dirty) {
+            this._dirty = false;
+            try {
+                this.updateSize();
+                if (!this.noAutoRecenter) {
+                    this._updateEnvironment();
+                }
+                this.renderer.render(this.scene, this.camera);
+                // update controls after the environment in
+                // case the controls are retargeted
+                this.controls.update();
+            }
+            catch (err) {
+                console.error(err);
+            }
+            finally {
+                this._dirty = true;
+            }
+        }
+    }
+    recenter() {
+        this._updateEnvironment();
+        this.redraw();
+    }
+    // Set the joint with jointName to
+    // angle in degrees
+    setJointValue(jointName, ...values) {
+        if (!this.robot)
+            return;
+        if (!this.robot.joints[jointName])
+            return;
+        if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2])) {
+            this.redraw();
+            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
+        }
+    }
+    setJointValues(values) {
+        for (const name in values)
+            this.setJointValue(name, values[name]);
+    }
+    /* Private Functions */
+    // Updates the position of the plane to be at the
+    // lowest point below the robot and focuses the
+    // camera on the center of the scene
+    _updateEnvironment() {
+        if (!this.robot)
+            return;
+        this.world.updateMatrixWorld();
+        const bbox = new THREE.Box3();
+        bbox.setFromObject(this.robot);
+        const center = bbox.getCenter(new THREE.Vector3());
+        this.controls.target.y = center.y;
+        this.plane.position.y = bbox.min.y - 1e-3;
+        const dirLight = this.directionalLight;
+        dirLight.castShadow = this.displayShadow;
+        if (this.displayShadow) {
+            // Update the shadow camera rendering bounds to encapsulate the
+            // model. We use the bounding sphere of the bounding box for
+            // simplicity -- this could be a tighter fit.
+            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
+            const minmax = sphere.radius;
+            const cam = dirLight.shadow.camera;
+            cam.left = cam.bottom = -minmax;
+            cam.right = cam.top = minmax;
+            // Update the camera to focus on the center of the model so the
+            // shadow can encapsulate it
+            const offset = dirLight.position.clone().sub(dirLight.target.position);
+            dirLight.target.position.copy(center);
+            dirLight.position.copy(center).add(offset);
+            cam.updateProjectionMatrix();
+        }
+    }
+    _scheduleLoad() {
+        // if our current model is already what's being requested
+        // or has been loaded then early out
+        if (this._prevload === `${this.package}|${this.urdf}`)
+            return;
+        this._prevload = `${this.package}|${this.urdf}`;
+        // if we're already waiting on a load then early out
+        if (this._loadScheduled)
+            return;
+        this._loadScheduled = true;
+        if (this.robot) {
+            this.robot.traverse((c) => c.dispose && c.dispose());
+            this.robot.parent.remove(this.robot);
+            delete this.robot;
+        }
+        requestAnimationFrame(() => {
+            this._loadUrdf(this.package, this.urdf);
+            this._loadScheduled = false;
+        });
+    }
+    // Watch the package and urdf field and load the robot model.
+    // This should _only_ be called from _scheduleLoad because that
+    // ensures the that current robot has been removed
+    _loadUrdf(pkg, urdf) {
+        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
+        if (urdf) {
+            // Keep track of this request and make
+            // sure it doesn't get overwritten by
+            // a subsequent one
+            this._requestId++;
+            const requestId = this._requestId;
+            const updateMaterials = (mesh) => {
+                mesh.traverse(c => {
+                    if (c.isMesh) {
+                        c.castShadow = true;
+                        c.receiveShadow = true;
+                        if (c.material) {
+                            const mats = (Array.isArray(c.material) ? c.material : [c.material]).map((m) => {
+                                if (m instanceof THREE.MeshBasicMaterial) {
+                                    m = new THREE.MeshPhongMaterial();
+                                }
+                                if (m.map) {
+                                    m.map.encoding = THREE.GammaEncoding;
+                                }
+                                return m;
+                            });
+                            c.material = mats.length === 1 ? mats[0] : mats;
+                        }
+                    }
+                });
+            };
+            if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {
+                // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"}
+                // Convert pkg(s) into a map. E.g.
+                // { "pkg_name": "path/to/pkg_name",
+                //   "pk2":      "path2/to/pk2"      }
+                pkg = pkg.split(',').reduce((map, value) => {
+                    const split = value.split(/:/).filter(x => !!x);
+                    const pkgName = split.shift().trim();
+                    const pkgPath = split.join(':').trim();
+                    map[pkgName] = pkgPath;
+                    return map;
+                }, {});
+            }
+            let robot;
+            const manager = new THREE.LoadingManager();
+            manager.onLoad = () => {
+                // If another request has come in to load a new
+                // robot, then ignore this one
+                if (this._requestId !== requestId) {
+                    robot.traverse(c => c.dispose && c.dispose());
+                    return;
+                }
+                this.robot = robot;
+                this.world.add(robot);
+                updateMaterials(robot);
+                this._setIgnoreLimits(this.ignoreLimits);
+                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
+                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
+                this.recenter();
+            };
+            if (this.urlModifierFunc) {
+                manager.setURLModifier(this.urlModifierFunc);
+            }
+            const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined;
+            if (checkXacro && checkXacro[0] === 'xacro') {
+                const xacroLoader = new XacroLoader();
+                try {
+                    xacroLoader.load(urdf, xml => {
+                        const loader = new URDFLoader(manager);
+                        loader.packages = pkg;
+                        loader.loadMeshCb = this.loadMeshFunc;
+                        loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+                        robot = loader.parse(xml);
+                    }, err => {
+                        console.error('xacroloader error: ', err);
+                    });
+                }
+                catch (error) {
+                    console.error(error);
+                }
+            }
+            else {
+                const loader = new URDFLoader(manager);
+                loader.packages = pkg;
+                loader.loadMeshCb = this.loadMeshFunc;
+                loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+                loader.load(urdf, model => (robot = model));
+            }
+        }
+    }
+    // Watch the coordinate frame and update the
+    // rotation of the scene to match
+    _setUp(up) {
+        if (!up)
+            up = '+Z';
+        up = up.toUpperCase();
+        const sign = up.replace(/[^-+]/g, '')[0] || '+';
+        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
+        const PI = Math.PI;
+        const HALFPI = PI / 2;
+        if (axis === 'X')
+            this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);
+        if (axis === 'Z')
+            this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);
+        if (axis === 'Y')
+            this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);
+    }
+    // Updates the current robot's angles to ignore
+    // joint limits or not
+    _setIgnoreLimits(ignore, dispatch = false) {
+        if (this.robot) {
+            Object.values(this.robot.joints).forEach(joint => {
+                joint.ignoreLimits = ignore;
+                joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2]);
+            });
+        }
+        if (dispatch) {
+            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
+        }
+    }
+}
+//# sourceMappingURL=urdf-viewer-element.js.map

package/dist/elements/urdf-viewer-element.js.map

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* as THREE from 'three'\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'\nimport URDFLoader, { URDFJoint, URDFRobot } from 'urdf-loader/src/URDFLoader'\nimport { XacroLoader } from 'xacro-parser'\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default class URDFViewerElement extends HTMLElement {\n  static get observedAttributes() {\n    return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter']\n  }\n\n  get package() {\n    return this.getAttribute('package') || ''\n  }\n  set package(val) {\n    this.setAttribute('package', val)\n  }\n\n  get urdf() {\n    return this.getAttribute('urdf') || ''\n  }\n  set urdf(val) {\n    this.setAttribute('urdf', val)\n  }\n\n  get ignoreLimits() {\n    return this.hasAttribute('ignore-limits') || false\n  }\n  set ignoreLimits(val) {\n    val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits')\n  }\n\n  get up() {\n    return this.getAttribute('up') || '+Z'\n  }\n  set up(val) {\n    this.setAttribute('up', val)\n  }\n\n  get displayShadow() {\n    return this.hasAttribute('display-shadow') || false\n  }\n  set displayShadow(val) {\n    val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow')\n  }\n\n  get ambientColor() {\n    return this.getAttribute('ambient-color') || '#455A64'\n  }\n  set ambientColor(val) {\n    val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color')\n  }\n\n  get noAutoRecenter() {\n    return this.hasAttribute('no-auto-recenter') || false\n  }\n  set noAutoRecenter(val) {\n    val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter')\n  }\n\n  get jointValues() {\n    const values = {} as any\n    if (this.robot) {\n      for (const name in this.robot.joints) {\n        const joint = this.robot.joints[name]\n        values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue]\n      }\n    }\n\n    return values\n  }\n  set jointValues(val) {\n    this.setJointValues(val)\n  }\n\n  get angles() {\n    return this.jointValues\n  }\n  set angles(v) {\n    this.jointValues = v\n  }\n\n  robot?: URDFRobot\n  controls: OrbitControls\n  scene: THREE.Scene\n  camera: THREE.PerspectiveCamera\n\n  world: THREE.Object3D\n  renderer: THREE.WebGLRenderer\n  plane: THREE.Mesh\n  directionalLight: THREE.DirectionalLight\n  ambientLight: THREE.HemisphereLight\n\n  _prevload?: string\n  _requestId = 0\n  _dirty = true\n  _loadScheduled = false\n  loadMeshFunc?: (\n    url: string,\n    manager: THREE.LoadingManager,\n    onLoad: (mesh: THREE.Object3D, err?: Error) => void\n  ) => void\n  urlModifierFunc?: (url: string) => string\n\n  /* Lifecycle Functions */\n  constructor() {\n    super()\n\n    const scene = new THREE.Scene()\n\n    const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000')\n    ambientLight.groundColor.lerp(ambientLight.color, 0.5)\n    ambientLight.intensity = 0.5\n    ambientLight.position.set(0, 1, 0)\n    scene.add(ambientLight)\n\n    // Light setup\n    const dirLight = new THREE.DirectionalLight(0xffffff)\n    dirLight.position.set(4, 10, 1)\n    dirLight.shadow.mapSize.width = 2048\n    dirLight.shadow.mapSize.height = 2048\n    dirLight.shadow.normalBias = 0.001\n    dirLight.castShadow = true\n    scene.add(dirLight)\n    scene.add(dirLight.target)\n\n    // Renderer setup\n    const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true })\n    renderer.setClearColor(0xffffff)\n    renderer.setClearAlpha(0)\n    renderer.shadowMap.enabled = true\n    renderer.shadowMap.type = THREE.PCFSoftShadowMap\n    renderer.outputEncoding = THREE.sRGBEncoding\n\n    // Camera setup\n    const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)\n    camera.position.z = -10\n\n    // World setup\n    const world = new THREE.Object3D()\n    scene.add(world)\n\n    const plane = new THREE.Mesh(\n      new THREE.PlaneBufferGeometry(40, 40),\n      new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 })\n    )\n    plane.rotation.x = -Math.PI / 2\n    plane.position.y = -0.5\n    plane.receiveShadow = true\n    plane.scale.set(10, 10, 10)\n    scene.add(plane)\n\n    // Controls setup\n    const controls = new OrbitControls(camera, renderer.domElement)\n    controls.rotateSpeed = 2.0\n    controls.zoomSpeed = 5\n    controls.panSpeed = 2\n    controls.enableZoom = true\n    controls.enableDamping = false\n    controls.maxDistance = 50\n    controls.minDistance = 0.25\n    controls.addEventListener('change', () => this.recenter())\n\n    this.scene = scene\n    this.world = world\n    this.renderer = renderer\n    this.camera = camera\n    this.controls = controls\n    this.plane = plane\n    this.directionalLight = dirLight\n    this.ambientLight = ambientLight\n\n    this._setUp(this.up)\n  }\n\n  connectedCallback() {\n    if (!this.querySelector('canvas')) {\n      var canvas = this.renderer.domElement\n      canvas.style.display = 'block'\n      canvas.style.width = '100%'\n      canvas.style.height = '100%'\n\n      this.appendChild(canvas)\n    }\n\n    requestAnimationFrame(() => this.recenter())\n  }\n\n  disconnectedCallback() {}\n\n  attributeChangedCallback(attr: string, oldval: any, newval: any) {\n    this.recenter()\n\n    switch (attr) {\n      case 'package':\n      case 'urdf': {\n        this._scheduleLoad()\n        break\n      }\n\n      case 'up': {\n        this._setUp(this.up)\n        break\n      }\n\n      case 'ambient-color': {\n        this.ambientLight.color.set(this.ambientColor)\n        this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5)\n        break\n      }\n\n      case 'ignore-limits': {\n        this._setIgnoreLimits(this.ignoreLimits, true)\n        break\n      }\n    }\n  }\n\n  /* Public API */\n  updateSize() {\n    const r = this.renderer\n    const w = this.clientWidth\n    const h = this.clientHeight\n\n    const currsize = r.getSize(new THREE.Vector2())\n\n    if (currsize.width !== w || currsize.height !== h) {\n      this.recenter()\n    }\n\n    r.setPixelRatio(window.devicePixelRatio)\n    r.setSize(w, h, false)\n\n    this.camera.aspect = w / h\n    this.camera.updateProjectionMatrix()\n  }\n\n  redraw() {\n    if (this.parentNode && this._dirty) {\n      this._dirty = false\n      try {\n        this.updateSize()\n\n        if (!this.noAutoRecenter) {\n          this._updateEnvironment()\n        }\n\n        this.renderer.render(this.scene, this.camera)\n\n        // update controls after the environment in\n        // case the controls are retargeted\n        this.controls.update()\n      } catch (err) {\n        console.error(err)\n      } finally {\n        this._dirty = true\n      }\n    }\n  }\n\n  recenter() {\n    this._updateEnvironment()\n    this.redraw()\n  }\n\n  // Set the joint with jointName to\n  // angle in degrees\n  setJointValue(jointName: string, ...values: Number[]) {\n    if (!this.robot) return\n    if (!this.robot.joints[jointName]) return\n\n    if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2]) as any) {\n      this.redraw()\n      this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }))\n    }\n  }\n\n  setJointValues(values: Number[]) {\n    for (const name in values) this.setJointValue(name, values[name])\n  }\n\n  /* Private Functions */\n  // Updates the position of the plane to be at the\n  // lowest point below the robot and focuses the\n  // camera on the center of the scene\n  _updateEnvironment() {\n    if (!this.robot) return\n\n    this.world.updateMatrixWorld()\n\n    const bbox = new THREE.Box3()\n    bbox.setFromObject(this.robot)\n\n    const center = bbox.getCenter(new THREE.Vector3())\n    this.controls.target.y = center.y\n    this.plane.position.y = bbox.min.y - 1e-3\n\n    const dirLight = this.directionalLight\n    dirLight.castShadow = this.displayShadow\n\n    if (this.displayShadow) {\n      // Update the shadow camera rendering bounds to encapsulate the\n      // model. We use the bounding sphere of the bounding box for\n      // simplicity -- this could be a tighter fit.\n      const sphere = bbox.getBoundingSphere(new THREE.Sphere())\n      const minmax = sphere.radius\n      const cam = dirLight.shadow.camera\n      cam.left = cam.bottom = -minmax\n      cam.right = cam.top = minmax\n\n      // Update the camera to focus on the center of the model so the\n      // shadow can encapsulate it\n      const offset = dirLight.position.clone().sub(dirLight.target.position)\n      dirLight.target.position.copy(center)\n      dirLight.position.copy(center).add(offset)\n\n      cam.updateProjectionMatrix()\n    }\n  }\n\n  _scheduleLoad() {\n    // if our current model is already what's being requested\n    // or has been loaded then early out\n    if (this._prevload === `${this.package}|${this.urdf}`) return\n    this._prevload = `${this.package}|${this.urdf}`\n\n    // if we're already waiting on a load then early out\n    if (this._loadScheduled) return\n    this._loadScheduled = true\n\n    if (this.robot) {\n      this.robot.traverse((c: any) => c.dispose && c.dispose())\n      this.robot.parent!.remove(this.robot)\n      delete this.robot\n    }\n\n    requestAnimationFrame(() => {\n      this._loadUrdf(this.package, this.urdf)\n      this._loadScheduled = false\n    })\n  }\n\n  // Watch the package and urdf field and load the robot model.\n  // This should _only_ be called from _scheduleLoad because that\n  // ensures the that current robot has been removed\n  _loadUrdf(pkg: string, urdf: string) {\n    this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }))\n\n    if (urdf) {\n      // Keep track of this request and make\n      // sure it doesn't get overwritten by\n      // a subsequent one\n      this._requestId++\n      const requestId = this._requestId\n\n      const updateMaterials = (mesh: URDFRobot) => {\n        mesh.traverse(c => {\n          if ((c as any).isMesh) {\n            c.castShadow = true\n            c.receiveShadow = true\n\n            if ((c as any).material) {\n              const mats = (Array.isArray((c as any).material) ? (c as any).material : [(c as any).material]).map(\n                (m: any) => {\n                  if (m instanceof THREE.MeshBasicMaterial) {\n                    m = new THREE.MeshPhongMaterial()\n                  }\n\n                  if (m.map) {\n                    m.map.encoding = THREE.GammaEncoding\n                  }\n\n                  return m\n                }\n              )\n\n              ;(c as any).material = mats.length === 1 ? mats[0] : mats\n            }\n          }\n        })\n      }\n\n      if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {\n        // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n        // Convert pkg(s) into a map. E.g.\n        // { \"pkg_name\": \"path/to/pkg_name\",\n        //   \"pk2\":      \"path2/to/pk2\"      }\n\n        pkg = pkg.split(',').reduce((map: any, value: string) => {\n          const split = value.split(/:/).filter(x => !!x)\n          const pkgName = split.shift()!.trim()\n          const pkgPath = split.join(':').trim()\n          map[pkgName] = pkgPath\n\n          return map\n        }, {} as any)\n      }\n\n      let robot: URDFRobot\n      const manager = new THREE.LoadingManager()\n      manager.onLoad = () => {\n        // If another request has come in to load a new\n        // robot, then ignore this one\n        if (this._requestId !== requestId) {\n          robot.traverse(c => (c as any).dispose && (c as any).dispose())\n          return\n        }\n\n        this.robot = robot\n\n        this.world.add(robot)\n        updateMaterials(robot)\n\n        this._setIgnoreLimits(this.ignoreLimits)\n\n        this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }))\n        this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }))\n\n        this.recenter()\n      }\n\n      if (this.urlModifierFunc) {\n        manager.setURLModifier(this.urlModifierFunc)\n      }\n\n      const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined\n\n      if (checkXacro && checkXacro[0] === 'xacro') {\n        const xacroLoader = new XacroLoader()\n        try {\n          xacroLoader.load(\n            urdf,\n            xml => {\n              const loader = new URDFLoader(manager)\n              loader.packages = pkg\n              loader.loadMeshCb = this.loadMeshFunc!\n              loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n              robot = loader.parse(xml)\n            },\n            err => {\n              console.error('xacroloader error: ', err)\n            }\n          )\n        } catch (error) {\n          console.error(error)\n        }\n      } else {\n        const loader = new URDFLoader(manager)\n        loader.packages = pkg\n        loader.loadMeshCb = this.loadMeshFunc!\n        loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n        loader.load(urdf, model => (robot = model))\n      }\n    }\n  }\n\n  // Watch the coordinate frame and update the\n  // rotation of the scene to match\n  _setUp(up: string) {\n    if (!up) up = '+Z'\n    up = up.toUpperCase()\n    const sign = up.replace(/[^-+]/g, '')[0] || '+'\n    const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z'\n\n    const PI = Math.PI\n    const HALFPI = PI / 2\n    if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI)\n    if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0)\n    if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0)\n  }\n\n  // Updates the current robot's angles to ignore\n  // joint limits or not\n  _setIgnoreLimits(ignore: boolean, dispatch = false) {\n    if (this.robot) {\n      Object.values(this.robot.joints).forEach(joint => {\n        joint.ignoreLimits = ignore\n        joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2])\n      })\n    }\n\n    if (dispatch) {\n      this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }))\n    }\n  }\n}\n"]}

package/dist/index.d.ts

@@ -0,0 +1,2 @@
+export { default as UrdfViewer } from './urdf-viewer';
+export { default as UrdfController } from './urdf-controller';

package/dist/index.js

@@ -0,0 +1,3 @@
+export { default as UrdfViewer } from './urdf-viewer';
+export { default as UrdfController } from './urdf-controller';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,eAAe,CAAA;AACrD,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,mBAAmB,CAAA","sourcesContent":["export { default as UrdfViewer } from './urdf-viewer'\nexport { default as UrdfController } from './urdf-controller'\n"]}

package/dist/templates/index.d.ts

@@ -0,0 +1,14 @@
+declare const _default: {
+    type: string;
+    description: string;
+    group: string;
+    icon: string;
+    model: {
+        type: string;
+        left: number;
+        top: number;
+        width: number;
+        height: number;
+    };
+}[];
+export default _default;

package/dist/templates/index.js

@@ -0,0 +1,4 @@
+import URDFViewer from './urdf-viewer';
+import URDFController from './urdf-controller';
+export default [URDFViewer, URDFController];
+//# sourceMappingURL=index.js.map

package/dist/templates/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/templates/index.ts"],"names":[],"mappings":"AAAA,OAAO,UAAU,MAAM,eAAe,CAAA;AACtC,OAAO,cAAc,MAAM,mBAAmB,CAAA;AAE9C,eAAe,CAAC,UAAU,EAAE,cAAc,CAAC,CAAA","sourcesContent":["import URDFViewer from './urdf-viewer'\nimport URDFController from './urdf-controller'\n\nexport default [URDFViewer, URDFController]\n"]}

package/dist/templates/urdf-controller.d.ts

@@ -0,0 +1,14 @@
+declare const _default: {
+    type: string;
+    description: string;
+    group: string;
+    icon: string;
+    model: {
+        type: string;
+        left: number;
+        top: number;
+        width: number;
+        height: number;
+    };
+};
+export default _default;

package/dist/templates/urdf-controller.js

@@ -0,0 +1,16 @@
+const icon = new URL('../../icons/urdf-controller.png', import.meta.url).href;
+export default {
+    type: 'urdf-controller',
+    description: 'urdf-controller',
+    group: '3D',
+    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */
+    icon,
+    model: {
+        type: 'urdf-controller',
+        left: 10,
+        top: 10,
+        width: 300,
+        height: 120
+    }
+};
+//# sourceMappingURL=urdf-controller.js.map

package/dist/templates/urdf-controller.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"urdf-controller.js","sourceRoot":"","sources":["../../src/templates/urdf-controller.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,iCAAiC,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAE7E,eAAe;IACb,IAAI,EAAE,iBAAiB;IACvB,WAAW,EAAE,iBAAiB;IAC9B,KAAK,EAAE,IAAI;IACX,gGAAgG;IAChG,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,iBAAiB;QACvB,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;KACZ;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf-controller.png', import.meta.url).href\n\nexport default {\n  type: 'urdf-controller',\n  description: 'urdf-controller',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */\n  icon,\n  model: {\n    type: 'urdf-controller',\n    left: 10,\n    top: 10,\n    width: 300,\n    height: 120\n  }\n}\n"]}

package/dist/templates/urdf-viewer.d.ts

@@ -0,0 +1,14 @@
+declare const _default: {
+    type: string;
+    description: string;
+    group: string;
+    icon: string;
+    model: {
+        type: string;
+        left: number;
+        top: number;
+        width: number;
+        height: number;
+    };
+};
+export default _default;

package/dist/templates/urdf-viewer.js

@@ -0,0 +1,16 @@
+const icon = new URL('../../icons/urdf-viewer.png', import.meta.url).href;
+export default {
+    type: 'urdf-viewer',
+    description: 'urdf-viewer',
+    group: '3D',
+    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */
+    icon,
+    model: {
+        type: 'urdf-viewer',
+        left: 10,
+        top: 10,
+        width: 300,
+        height: 200
+    }
+};
+//# sourceMappingURL=urdf-viewer.js.map

package/dist/templates/urdf-viewer.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"urdf-viewer.js","sourceRoot":"","sources":["../../src/templates/urdf-viewer.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,6BAA6B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAEzE,eAAe;IACb,IAAI,EAAE,aAAa;IACnB,WAAW,EAAE,aAAa;IAC1B,KAAK,EAAE,IAAI;IACX,gGAAgG;IAChG,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,aAAa;QACnB,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;KACZ;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf-viewer.png', import.meta.url).href\n\nexport default {\n  type: 'urdf-viewer',\n  description: 'urdf-viewer',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */\n  icon,\n  model: {\n    type: 'urdf-viewer',\n    left: 10,\n    top: 10,\n    width: 300,\n    height: 200\n  }\n}\n"]}

package/dist/urdf-controller.d.ts

@@ -0,0 +1,27 @@
+import { HTMLOverlayContainer } from '@hatiolab/things-scene';
+import './elements/urdf-controller-element';
+import URDFControllerElement from './elements/urdf-controller-element';
+import UrdfViewer from './urdf-viewer';
+export default class UrdfController extends HTMLOverlayContainer {
+    _reference?: UrdfViewer;
+    static get nature(): {
+        mutable: boolean;
+        resizable: boolean;
+        rotatable: boolean;
+        properties: {
+            type: string;
+            label: string;
+            name: string;
+            property: {
+                component: string;
+            };
+        }[];
+    };
+    oncreate_element(controller: URDFControllerElement): void;
+    dispose(): void;
+    setElementProperties(controller: URDFControllerElement): void;
+    reposition(): void;
+    get tagName(): string;
+    get reference(): UrdfViewer | undefined;
+    set reference(reference: UrdfViewer | undefined);
+}