@operato/scene-urdf 1.2.2

package/src/urdf-viewer.ts

@@ -0,0 +1,249 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ */
+import { Component, HTMLOverlayElement, error, Properties } from '@hatiolab/things-scene'
+import * as THREE from 'three'
+import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'
+import { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js'
+import { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js'
+import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js'
+import './elements/urdf-manipulator-element'
+import URDFManipulatorElement from './elements/urdf-manipulator-element'
+
+const NATURE = {
+  mutable: false,
+  resizable: true,
+  rotatable: true,
+  properties: [
+    {
+      type: 'string',
+      label: 'package',
+      name: 'package'
+    },
+    {
+      type: 'string',
+      label: 'urdf',
+      name: 'urdf'
+    },
+    {
+      type: 'select',
+      label: 'up',
+      name: 'up',
+      property: {
+        options: ['', '+X', '-X', '+Y', '-Y', '+Z', '-Z']
+      }
+    },
+    {
+      type: 'checkbox',
+      label: 'display-shadow',
+      name: 'displayShadow'
+    },
+    {
+      type: 'color',
+      label: 'ambient-color',
+      name: 'ambientColor'
+    },
+    {
+      type: 'color',
+      label: 'highlight-color',
+      name: 'highlightColor'
+    },
+    {
+      type: 'checkbox',
+      label: 'ignore-limits',
+      name: 'ignoreLimits'
+    },
+    {
+      type: 'checkbox',
+      label: 'no-auto-recenter',
+      name: 'noAutoRecenter'
+    },
+    {
+      type: 'checkbox',
+      label: 'disable-dragging',
+      name: 'disableDragging'
+    },
+    {
+      type: 'checkbox',
+      label: 'no-camera-control',
+      name: 'noCameraControl'
+    },
+    {
+      type: 'range-input',
+      label: 'init-camera-pos-x',
+      name: 'initCameraPosX',
+      placeholder: 1,
+      property: {
+        step: 0.1,
+        max: 180,
+        min: -180
+      }
+    },
+    {
+      type: 'range-input',
+      label: 'init-camera-pos-y',
+      name: 'initCameraPosY',
+      placeholder: 1,
+      property: {
+        step: 0.1,
+        max: 180,
+        min: -180
+      }
+    },
+    {
+      type: 'range-input',
+      label: 'init-camera-pos-z',
+      name: 'initCameraPosZ',
+      placeholder: 1,
+      property: {
+        step: 0.1,
+        max: 180,
+        min: -180
+      }
+    }
+  ],
+  'value-property': 'angles'
+}
+
+export default class UrdfViewer extends HTMLOverlayElement {
+  static get nature() {
+    return NATURE
+  }
+
+  oncreate_element(element: URDFManipulatorElement) {
+    element.addEventListener('angle-change', (e: Event) => {
+      this.data = element.angles
+    })
+
+    element.loadMeshFunc = (path: string, manager: THREE.LoadingManager, done: (result: any, err?: any) => void) => {
+      const ext = path.split(/\./g).pop()!.toLowerCase()
+      switch (ext) {
+        case 'gltf':
+        case 'glb':
+          new GLTFLoader(manager).load(
+            path,
+            result => done(result.scene),
+            undefined,
+            err => done(null, err)
+          )
+          break
+        case 'obj':
+          new OBJLoader(manager).load(
+            path,
+            result => done(result),
+            undefined,
+            err => done(null, err)
+          )
+          break
+        case 'dae':
+          new ColladaLoader(manager).load(
+            path,
+            result => done(result.scene),
+            undefined,
+            err => done(null, err)
+          )
+          break
+        case 'stl':
+          new STLLoader(manager).load(
+            path,
+            result => {
+              const material = new THREE.MeshPhongMaterial()
+              const mesh = new THREE.Mesh(result, material)
+              done(mesh)
+            },
+            undefined,
+            err => done(null, err)
+          )
+          break
+      }
+    }
+
+    // initialize first camera position
+    var { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state
+    element.camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)
+  }
+
+  dispose() {
+    super.dispose()
+  }
+
+  /*
+   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,
+   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.
+   *
+   * ThingsComponent state => HTML element properties
+   */
+  setElementProperties(element: URDFManipulatorElement) {
+    var {
+      package: _package,
+      urdf,
+      displayShadow,
+      ignoreLimits,
+      up,
+      ambientColor,
+      highlightColor,
+      noAutoRecenter,
+      disableDragging,
+      noCameraControl,
+      angles
+    } = this.state
+
+    element.style.pointerEvents = 'auto' //'inherit'
+
+    element.package = _package
+    element.urdf = urdf
+    element.displayShadow = displayShadow
+    element.ignoreLimits = ignoreLimits
+    element.up = up
+    element.ambientColor = ambientColor
+    element.highlightColor = highlightColor
+    element.noAutoRecenter = noAutoRecenter
+    element.disableDragging = disableDragging
+    element.controls.enabled = !noCameraControl
+    element.angles = angles
+
+    requestAnimationFrame(() => element.redraw())
+  }
+
+  /*
+   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.
+   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.
+   */
+  reposition() {
+    super.reposition()
+  }
+
+  get tagName() {
+    return 'urdf-viewer'
+  }
+
+  get angles() {
+    // return this.element.angles
+    return this.state.angles
+  }
+
+  set angles(angles) {
+    // this.element.angles = angles
+    this.setState({ angles })
+  }
+
+  get highlightColor() {
+    return this.state.highlightColor
+  }
+
+  set highlightColor(highlightColor: string) {
+    this.setState({ highlightColor })
+  }
+
+  onchange(after: Properties, before: Properties) {
+    if ('initCameraPosX' in after || 'initCameraPosY' in after || 'initCameraPosZ' in after) {
+      const { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state
+      this.element &&
+        (this.element as URDFManipulatorElement).camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)
+    }
+
+    super.onchange && super.onchange(after, before)
+  }
+}
+
+Component.register('urdf-viewer', UrdfViewer)

package/things-scene.config.js

@@ -0,0 +1,7 @@
+import editors from './dist/editors'
+import templates from './dist/templates'
+
+export default {
+  templates,
+  editors
+}

package/translations/en.json

@@ -0,0 +1,16 @@
+{
+  "label.package": "package",
+  "label.urdf": "URDF",
+  "label.urdf-reference": "URDF viewer",
+  "label.up": "up axis",
+  "label.display-shadow": "display shadow",
+  "label.ambient-color": "ambient color",
+  "label.highlight-color": "highlight color",
+  "label.ignore-limits": "ignore limits",
+  "label.no-auto-recenter": "no auto recenter",
+  "label.disable-dragging": "disable dragging",
+  "label.no-camera-control": "disable cam. control",
+  "label.init-camera-pos-x": "cam pos(x)",
+  "label.init-camera-pos-y": "cam pos(y)",
+  "label.init-camera-pos-z": "cam pos(z)"
+}

package/translations/ko.json

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+{
+  "label.package": "패키지 URL",
+  "label.urdf": "URDF URL",
+  "label.urdf-reference": "URDF 뷰어",
+  "label.up": "위방항 축",
+  "label.display-shadow": "그림자 보이기",
+  "label.ambient-color": "ambient 색상",
+  "label.highlight-color": "강조 색상",
+  "label.ignore-limits": "각도제한 무시",
+  "label.no-auto-recenter": "자동 센터링 않기",
+  "label.disable-dragging": "드래깅 불가",
+  "label.no-camera-control": "카메라 이동 불가",
+  "label.init-camera-pos-x": "Cam 위치(x)",
+  "label.init-camera-pos-y": "Cam 위치(y)",
+  "label.init-camera-pos-z": "Cam 위치(z)"
+}

package/translations/ms.json

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+{
+  "label.package": "[ms] package",
+  "label.urdf": "URDF",
+  "label.urdf-reference": "[ms] URDF viewer",
+  "label.up": "[ms] up axis",
+  "label.display-shadow": "[ms] display shadow",
+  "label.ambient-color": "[ms] ambient color",
+  "label.highlight-color": "[ms] highlight color",
+  "label.ignore-limits": "[ms] ignore limits",
+  "label.no-auto-recenter": "[ms] no auto recenter",
+  "label.disable-dragging": "[ms] disable dragging",
+  "label.no-camera-control": "[ms] disable cam. control",
+  "label.init-camera-pos-x": "[ms] cam pos(x)",
+  "label.init-camera-pos-y": "[ms] cam pos(y)",
+  "label.init-camera-pos-z": "[ms] cam pos(z)"
+}

package/translations/zh.json

@@ -0,0 +1,16 @@
+{
+  "label.package": "[zh] package",
+  "label.urdf": "URDF",
+  "label.urdf-reference": "[zh] URDF viewer",
+  "label.up": "[zh] up axis",
+  "label.display-shadow": "[zh] display shadow",
+  "label.ambient-color": "[zh] ambient color",
+  "label.highlight-color": "[zh] highlight color",
+  "label.ignore-limits": "[zh] ignore limits",
+  "label.no-auto-recenter": "[zh] no auto recenter",
+  "label.disable-dragging": "[zh] disable dragging",
+  "label.no-camera-control": "[zh] disable cam. control",
+  "label.init-camera-pos-x": "[zh] cam pos(x)",
+  "label.init-camera-pos-y": "[zh] cam pos(y)",
+  "label.init-camera-pos-z": "[zh] cam pos(z)"
+}

package/tsconfig.json

@@ -0,0 +1,22 @@
+{
+  "compilerOptions": {
+    "target": "es2018",
+    "module": "esnext",
+    "moduleResolution": "node",
+    "noEmitOnError": true,
+    "lib": ["es2017", "dom"],
+    "strict": true,
+    "esModuleInterop": false,
+    "allowSyntheticDefaultImports": true,
+    "experimentalDecorators": true,
+    "importHelpers": true,
+    "outDir": "dist",
+    "sourceMap": true,
+    "inlineSources": true,
+    "rootDir": "src",
+    "declaration": true,
+    "incremental": true,
+    "types": ["node"]
+  },
+  "include": ["**/*.ts", "*.d.ts", "src/loaders/TGALoader.ts_", "src/loaders/ColladaLoader.ts_"]
+}

package/tsconfig.tsbuildinfo

@@ -0,0 +1 @@
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package/web-dev-server.config.mjs

@@ -0,0 +1,27 @@
+// import { hmrPlugin, presets } from '@open-wc/dev-server-hmr';
+
+/** Use Hot Module replacement by adding --hmr to the start command */
+const hmr = process.argv.includes('--hmr')
+
+export default /** @type {import('@web/dev-server').DevServerConfig} */ ({
+  open: '/demo/',
+  /** Use regular watch mode if HMR is not enabled. */
+  watch: !hmr,
+  /** Resolve bare module imports */
+  nodeResolve: {
+    exportConditions: ['browser', 'development']
+  },
+
+  /** Compile JS for older browsers. Requires @web/dev-server-esbuild plugin */
+  // esbuildTarget: 'auto'
+
+  /** Set appIndex to enable SPA routing */
+  // appIndex: 'demo/index.html',
+
+  plugins: [
+    /** Use Hot Module Replacement by uncommenting. Requires @open-wc/dev-server-hmr plugin */
+    // hmr && hmrPlugin({ exclude: ['**/*/node_modules/**/*'], presets: [presets.litElement] }),
+  ]
+
+  // See documentation for all available options
+})