@operato/scene-urdf 10.0.0-beta.1 → 10.0.0-beta.18

package/dist/urdf-object.js

@@ -0,0 +1,163 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF 로봇을 things-scene 3D 공간에 네이티브로 임베드한다.
+ * GLTFObject와 대칭적인 구조 — 2D 탑뷰는 스냅샷 렌더로 표현한다.
+ */
+import { __decorate } from "tslib";
+import { RectPath, Shape, sceneComponent } from '@hatiolab/things-scene';
+import { RealObjectURDF } from './real-object-urdf.js';
+const BASE_URL_ALIAS = '$base_url';
+const NATURE = {
+    mutable: false,
+    resizable: true,
+    rotatable: true,
+    properties: [
+        {
+            type: 'string',
+            label: 'url',
+            name: 'src',
+            property: {
+                displayField: 'id',
+                displayFullUrl: true,
+                baseUrlAlias: BASE_URL_ALIAS,
+                defaultStorage: '3d-model',
+                storageFilters: {
+                    type: Array,
+                    value: [
+                        {
+                            name: 'category',
+                            value: 'urdf'
+                        }
+                    ]
+                },
+                useUpload: true,
+                category: 'application'
+            }
+        },
+        {
+            type: 'select',
+            label: 'up-axis',
+            name: 'upAxis',
+            property: {
+                options: [
+                    { display: 'Z (URDF default)', value: 'z' },
+                    { display: 'Y (Three.js default)', value: 'y' }
+                ]
+            }
+        },
+        {
+            type: 'number',
+            label: 'unit-scale',
+            name: 'unitScale',
+            placeholder: '1000'
+        },
+        {
+            type: 'urdf-joints',
+            label: '',
+            name: 'joints',
+            editor: {
+                fullwidth: true
+            }
+        }
+    ],
+    'value-property': 'source',
+    help: 'scene/component/urdf'
+};
+let URDFObject = class URDFObject extends RectPath(Shape) {
+    get hasTextProperty() {
+        return false;
+    }
+    is3dish() {
+        return true;
+    }
+    get controls() {
+        return [];
+    }
+    render(context) {
+        const { left, top, width, height } = this.bounds;
+        context.beginPath();
+        const snapshot = this._topViewSnapshot;
+        if (snapshot) {
+            context.drawImage(snapshot, left, top, width, height);
+        }
+        else {
+            // 폴백: 로봇 아이콘 박스 + 중앙 라벨
+            context.rect(left, top, width, height);
+            context.fillStyle = '#e3f2fd';
+            context.fill();
+            context.strokeStyle = '#1976d2';
+            context.lineWidth = 1;
+            context.stroke();
+            const src = this.getState('src');
+            const label = src ? src.split('/').pop()?.replace(/\.[^.]+$/, '') || 'URDF' : 'URDF';
+            const fontSize = Math.max(10, Math.min(width, height) * 0.12);
+            context.fillStyle = '#1976d2';
+            context.font = `${fontSize}px sans-serif`;
+            context.textAlign = 'center';
+            context.textBaseline = 'middle';
+            context.fillText(label, left + width / 2, top + height / 2, width * 0.9);
+        }
+    }
+    async ready() {
+        await super.ready();
+        this._ensureTopViewSnapshot();
+    }
+    onchange(after, before) {
+        super.onchange(after, before);
+        if ('src' in after) {
+            this._topViewSnapshot = undefined;
+            this._ensureTopViewSnapshot();
+        }
+    }
+    _ensureTopViewSnapshot() {
+        const src = this.getState('src');
+        if (!src)
+            return;
+        const cached = RealObjectURDF.getTopViewCache(src);
+        if (cached) {
+            this._topViewSnapshot = cached;
+            this.invalidate();
+        }
+        // 캐시 miss인 경우 3D 씬이 활성화되면 _onLoaded에서 자동 생성한다.
+    }
+    buildRealObject() {
+        return new RealObjectURDF(this);
+    }
+    get nature() {
+        return NATURE;
+    }
+    get source() {
+        return this.getState('src');
+    }
+    set source(source) {
+        this.setState('src', source);
+    }
+    set dimension(dimension) {
+        const { width = 1, height = 1, depth = 1 } = dimension;
+        this.setState({ width, height, depth });
+        this.realObject?.updateDimension();
+    }
+    // --- URDF 바인딩 API ---
+    /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */
+    get joints() {
+        return this.getState('joints');
+    }
+    set joints(value) {
+        this.setState('joints', value);
+    }
+    /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */
+    get jointMeta() {
+        const ro = this.realObject;
+        return ro?.jointMeta ?? [];
+    }
+    get jointNames() {
+        const ro = this.realObject;
+        return ro?.jointNames ?? [];
+    }
+};
+URDFObject = __decorate([
+    sceneComponent('urdf')
+], URDFObject);
+export { URDFObject };
+//# sourceMappingURL=urdf-object.js.map

package/dist/urdf-object.js.map

@@ -0,0 +1 @@
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All rights reserved.\n *\n * URDF 로봇을 things-scene 3D 공간에 네이티브로 임베드한다.\n * GLTFObject와 대칭적인 구조 — 2D 탑뷰는 스냅샷 렌더로 표현한다.\n */\n\nimport {\n  RectPath,\n  Shape,\n  sceneComponent,\n  type ComponentNature,\n  type Control,\n  type IRealObject\n} from '@hatiolab/things-scene'\nimport { RealObjectURDF } from './real-object-urdf.js'\nimport type { URDFJointState, URDFJointMeta } from './real-object-urdf.js'\n\nconst BASE_URL_ALIAS = '$base_url'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'url',\n      name: 'src',\n      property: {\n        displayField: 'id',\n        displayFullUrl: true,\n        baseUrlAlias: BASE_URL_ALIAS,\n        defaultStorage: '3d-model',\n        storageFilters: {\n          type: Array,\n          value: [\n            {\n              name: 'category',\n              value: 'urdf'\n            }\n          ]\n        },\n        useUpload: true,\n        category: 'application'\n      }\n    },\n    {\n      type: 'select',\n      label: 'up-axis',\n      name: 'upAxis',\n      property: {\n        options: [\n          { display: 'Z (URDF default)', value: 'z' },\n          { display: 'Y (Three.js default)', value: 'y' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'unit-scale',\n      name: 'unitScale',\n      placeholder: '1000'\n    },\n    {\n      type: 'urdf-joints',\n      label: '',\n      name: 'joints',\n      editor: {\n        fullwidth: true\n      }\n    }\n  ],\n  'value-property': 'source',\n  help: 'scene/component/urdf'\n}\n\n@sceneComponent('urdf')\nexport class URDFObject extends RectPath(Shape) {\n  get hasTextProperty() {\n    return false\n  }\n\n  is3dish() {\n    return true\n  }\n\n  get controls(): Array<Control> | undefined {\n    return []\n  }\n\n  render(context: CanvasRenderingContext2D) {\n    const { left, top, width, height } = this.bounds\n\n    context.beginPath()\n\n    const snapshot = (this as any)._topViewSnapshot as HTMLCanvasElement | undefined\n    if (snapshot) {\n      context.drawImage(snapshot, left, top, width, height)\n    } else {\n      // 폴백: 로봇 아이콘 박스 + 중앙 라벨\n      context.rect(left, top, width, height)\n      context.fillStyle = '#e3f2fd'\n      context.fill()\n      context.strokeStyle = '#1976d2'\n      context.lineWidth = 1\n      context.stroke()\n\n      const src = this.getState('src') as string | undefined\n      const label = src ? src.split('/').pop()?.replace(/\\.[^.]+$/, '') || 'URDF' : 'URDF'\n      const fontSize = Math.max(10, Math.min(width, height) * 0.12)\n      context.fillStyle = '#1976d2'\n      context.font = `${fontSize}px sans-serif`\n      context.textAlign = 'center'\n      context.textBaseline = 'middle'\n      context.fillText(label, left + width / 2, top + height / 2, width * 0.9)\n    }\n  }\n\n  async ready() {\n    await super.ready()\n    this._ensureTopViewSnapshot()\n  }\n\n  onchange(after: Record<string, any>, before: Record<string, any>) {\n    super.onchange(after, before)\n    if ('src' in after) {\n      (this as any)._topViewSnapshot = undefined\n      this._ensureTopViewSnapshot()\n    }\n  }\n\n  private _ensureTopViewSnapshot() {\n    const src = this.getState('src') as string | undefined\n    if (!src) return\n\n    const cached = RealObjectURDF.getTopViewCache(src)\n    if (cached) {\n      (this as any)._topViewSnapshot = cached\n      this.invalidate()\n    }\n    // 캐시 miss인 경우 3D 씬이 활성화되면 _onLoaded에서 자동 생성한다.\n  }\n\n  buildRealObject(): IRealObject | undefined {\n    return new RealObjectURDF(this as any)\n  }\n\n  get nature() {\n    return NATURE\n  }\n\n  get source() {\n    return this.getState('src')\n  }\n\n  set source(source) {\n    this.setState('src', source)\n  }\n\n  set dimension(dimension: { width: number; height: number; depth: number }) {\n    const { width = 1, height = 1, depth = 1 } = dimension\n    this.setState({ width, height, depth })\n    this.realObject?.updateDimension()\n  }\n\n  // --- URDF 바인딩 API ---\n\n  /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */\n  get joints(): Record<string, URDFJointState | number> | undefined {\n    return this.getState('joints')\n  }\n\n  set joints(value: Record<string, URDFJointState | number> | undefined) {\n    this.setState('joints', value)\n  }\n\n  /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */\n  get jointMeta(): URDFJointMeta[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointMeta ?? []\n  }\n\n  get jointNames(): string[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointNames ?? []\n  }\n}\n"]}

package/package.json

@@ -2,7 +2,7 @@
   "name": "@operato/scene-urdf",
   "description": "Scene module for manipulating robot simulation through URDF format",
   "author": "heartyoh",
-  "version": "10.0.0-beta.1",
+  "version": "10.0.0-beta.18",
   "type": "module",
   "main": "dist/index.js",
   "module": "dist/index.js",
@@ -29,11 +29,12 @@
   },
   "dependencies": {
     "@hatiolab/things-scene": "^10.0.0-beta.1",
+    "@operato/i18n": "^10.0.0-beta.1",
+    "@operato/property-editor": "^10.0.0-beta.1",
     "@operato/styles": "^10.0.0-beta.1",
     "lit": "^3.1.2",
     "three": "^0.183.0",
-    "urdf-loader": "^0.10.4",
-    "xacro-parser": "^0.3.9"
+    "urdf-loader": "^0.12.7"
   },
   "devDependencies": {
     "@hatiolab/prettier-config": "^1.0.0",
@@ -65,5 +66,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "bb127dd516b9e962fb2d0a24bc2d8c5e108f06fb"
+  "gitHead": "5c13481300d7d45650b71f876aab8059ac8212c9"
 }

package/dist/elements/drag-n-drop.d.ts

@@ -1,2 +0,0 @@
-import URDFViewerElement from './urdf-viewer-element.js';
-export declare function registerDragEvents(viewer: URDFViewerElement, callback: () => void): void;

package/dist/elements/drag-n-drop.js

@@ -1,126 +0,0 @@
-// Converts a datatransfer structer into an object with all paths and files
-// listed out. Returns a promise that resolves with the file structure.
-function dataTransferToFiles(dataTransfer) {
-    if (!(dataTransfer instanceof DataTransfer)) {
-        throw new Error('Data must be of type "DataTransfer"');
-    }
-    const files = {};
-    // recurse down the webkit file structure resolving
-    // the paths to files names to store in the `files`
-    // object
-    function recurseDirectory(item) {
-        if (item.isFile) {
-            return new Promise(resolve => {
-                item.file((file) => {
-                    files[item.fullPath] = file;
-                    resolve();
-                });
-            });
-        }
-        else {
-            const reader = item.createReader();
-            return new Promise(resolve => {
-                const promises = [];
-                // exhaustively read all the directory entries
-                function readNextEntries() {
-                    reader.readEntries((et) => {
-                        if (et.length === 0) {
-                            Promise.all(promises).then(() => resolve());
-                        }
-                        else {
-                            et.forEach((e) => {
-                                promises.push(recurseDirectory(e));
-                            });
-                            readNextEntries();
-                        }
-                    });
-                }
-                readNextEntries();
-            });
-        }
-    }
-    return new Promise(resolve => {
-        // Traverse down the tree and add the files into the zip
-        // const dtitems = dataTransfer.items && [...dataTransfer.items]
-        // const dtfiles = [...dataTransfer.files]
-        var dtitems = [];
-        if (dataTransfer.items) {
-            for (let i = 0; i < dataTransfer.items.length; i++) {
-                dtitems.push(dataTransfer.items[i]);
-            }
-        }
-        var dtfiles = [];
-        if (dataTransfer.files) {
-            for (let i = 0; i < dataTransfer.files.length; i++) {
-                dtfiles.push(dataTransfer.files[i]);
-            }
-        }
-        if (dtitems.length && dtitems[0].webkitGetAsEntry) {
-            const promises = [];
-            for (let i = 0; i < dtitems.length; i++) {
-                const item = dtitems[i];
-                const entry = item.webkitGetAsEntry();
-                promises.push(recurseDirectory(entry));
-            }
-            Promise.all(promises).then(() => resolve(files));
-        }
-        else {
-            // add a '/' prefix to math the file directory entry
-            // on webkit browsers
-            dtfiles.filter(f => f.size !== 0).forEach(f => (files['/' + f.name] = f));
-            resolve(files);
-        }
-    });
-}
-export function registerDragEvents(viewer, callback) {
-    document.addEventListener('dragover', e => e.preventDefault());
-    document.addEventListener('dragenter', e => e.preventDefault());
-    document.addEventListener('drop', e => {
-        e.preventDefault();
-        // convert the files
-        dataTransferToFiles(e.dataTransfer).then((files) => {
-            // removes '..' and '.' tokens and normalizes slashes
-            const cleanFilePath = (path) => {
-                return path
-                    .replace(/\\/g, '/')
-                    .split(/\//g)
-                    .reduce((acc, el) => {
-                    if (el === '..')
-                        acc.pop();
-                    else if (el !== '.')
-                        acc.push(el);
-                    return acc;
-                }, [])
-                    .join('/');
-            };
-            // set the loader url modifier to check the list
-            // of files
-            const fileNames = Object.keys(files).map(n => cleanFilePath(n));
-            viewer.urlModifierFunc = (url) => {
-                // find the matching file given the requested url
-                const cleaned = cleanFilePath(url.replace(viewer.package, ''));
-                const fileName = fileNames
-                    .filter(name => {
-                    // check if the end of file and url are the same
-                    const len = Math.min(name.length, cleaned.length);
-                    return cleaned.substr(cleaned.length - len) === name.substr(name.length - len);
-                })
-                    .pop();
-                if (fileName !== undefined) {
-                    // revoke the url after it's been used
-                    const bloburl = URL.createObjectURL(files[fileName]);
-                    requestAnimationFrame(() => URL.revokeObjectURL(bloburl));
-                    return bloburl;
-                }
-                return url;
-            };
-            // set the source of the element to the most likely intended display model
-            const filesNames = Object.keys(files);
-            viewer.up = '+Z';
-            document.getElementById('up-select').value = viewer.up;
-            viewer.urdf = filesNames.filter(n => /urdf$/i.test(n)).shift();
-        });
-        callback();
-    });
-}
-//# sourceMappingURL=drag-n-drop.js.map

package/dist/elements/drag-n-drop.js.map

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Returns a promise that resolves with the file structure.\nfunction dataTransferToFiles(dataTransfer: DataTransfer) {\n  if (!(dataTransfer instanceof DataTransfer)) {\n    throw new Error('Data must be of type \"DataTransfer\"')\n  }\n\n  const files = {} as any\n\n  // recurse down the webkit file structure resolving\n  // the paths to files names to store in the `files`\n  // object\n  function recurseDirectory(item: any): Promise<void> {\n    if (item.isFile) {\n      return new Promise(resolve => {\n        item.file((file: any) => {\n          files[item.fullPath] = file\n          resolve()\n        })\n      })\n    } else {\n      const reader = item.createReader()\n\n      return new Promise(resolve => {\n        const promises = [] as any\n\n        // exhaustively read all the directory entries\n        function readNextEntries() {\n          reader.readEntries((et: any) => {\n            if (et.length === 0) {\n              Promise.all(promises).then(() => resolve())\n            } else {\n              et.forEach((e: any) => {\n                promises.push(recurseDirectory(e))\n              })\n              readNextEntries()\n            }\n          })\n        }\n\n        readNextEntries()\n      })\n    }\n  }\n\n  return new Promise(resolve => {\n    // Traverse down the tree and add the files into the zip\n    // const dtitems = dataTransfer.items && [...dataTransfer.items]\n    // const dtfiles = [...dataTransfer.files]\n    var dtitems = [] as DataTransferItem[]\n    if (dataTransfer.items) {\n      for (let i = 0; i < dataTransfer.items.length; i++) {\n        dtitems.push(dataTransfer.items[i])\n      }\n    }\n\n    var dtfiles = [] as File[]\n    if (dataTransfer.files) {\n      for (let i = 0; i < dataTransfer.files.length; i++) {\n        dtfiles.push(dataTransfer.files[i])\n      }\n    }\n\n    if (dtitems.length && (dtitems[0].webkitGetAsEntry as any)) {\n      const promises = []\n      for (let i = 0; i < dtitems.length; i++) {\n        const item = dtitems[i]\n        const entry = item.webkitGetAsEntry()\n\n        promises.push(recurseDirectory(entry))\n      }\n      Promise.all(promises).then(() => resolve(files))\n    } else {\n      // add a '/' prefix to math the file directory entry\n      // on webkit browsers\n      dtfiles.filter(f => f.size !== 0).forEach(f => (files['/' + f.name] = f))\n\n      resolve(files)\n    }\n  })\n}\n\nexport function registerDragEvents(viewer: URDFViewerElement, callback: () => void) {\n  document.addEventListener('dragover', e => e.preventDefault())\n  document.addEventListener('dragenter', e => e.preventDefault())\n  document.addEventListener('drop', e => {\n    e.preventDefault()\n\n    // convert the files\n    dataTransferToFiles(e.dataTransfer!).then((files: any) => {\n      // removes '..' and '.' tokens and normalizes slashes\n      const cleanFilePath = (path: string) => {\n        return path\n          .replace(/\\\\/g, '/')\n          .split(/\\//g)\n          .reduce((acc, el) => {\n            if (el === '..') acc.pop()\n            else if (el !== '.') acc.push(el)\n            return acc\n          }, [] as string[])\n          .join('/')\n      }\n\n      // set the loader url modifier to check the list\n      // of files\n      const fileNames = Object.keys(files).map(n => cleanFilePath(n))\n      viewer.urlModifierFunc = (url: string) => {\n        // find the matching file given the requested url\n        const cleaned = cleanFilePath(url.replace(viewer.package, ''))\n        const fileName = fileNames\n          .filter(name => {\n            // check if the end of file and url are the same\n            const len = Math.min(name.length, cleaned.length)\n            return cleaned.substr(cleaned.length - len) === name.substr(name.length - len)\n          })\n          .pop()\n\n        if (fileName !== undefined) {\n          // revoke the url after it's been used\n          const bloburl = URL.createObjectURL(files[fileName])\n          requestAnimationFrame(() => URL.revokeObjectURL(bloburl))\n\n          return bloburl\n        }\n\n        return url\n      }\n\n      // set the source of the element to the most likely intended display model\n      const filesNames = Object.keys(files)\n      viewer.up = '+Z'\n      ;(document.getElementById('up-select') as any)!.value = viewer.up\n\n      viewer.urdf = filesNames.filter(n => /urdf$/i.test(n)).shift()!\n    })\n\n    callback()\n  })\n}\n"]}

package/dist/elements/urdf-controller-element.d.ts

@@ -1,12 +0,0 @@
-import { LitElement, PropertyValues } from 'lit';
-import { URDFRobot } from 'urdf-loader';
-import URDFManipulatorElement from './urdf-manipulator-element.js';
-export default class URDFControllerElement extends LitElement {
-    static styles: import("lit").CSSResult[];
-    viewer?: URDFManipulatorElement;
-    robot?: URDFRobot;
-    render(): import("lit-html").TemplateResult<1>;
-    updated(changes: PropertyValues<this>): void;
-    _setupViewer(viewer?: URDFManipulatorElement): void;
-    setColor(color: string): void;
-}

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

@@ -1,283 +0,0 @@
-import { __decorate } from "tslib";
-import { LitElement, css, html } from 'lit';
-import { customElement, property } from 'lit/decorators.js';
-import * as THREE from 'three';
-import { registerDragEvents } from './drag-n-drop.js';
-import { ScrollbarStyles } from '@operato/styles';
-const DEG2RAD = Math.PI / 180;
-const RAD2DEG = 1 / DEG2RAD;
-let URDFControllerElement = class URDFControllerElement extends LitElement {
-    static styles = [
-        ScrollbarStyles,
-        css `
-      :host {
-        display: flex;
-        flex-direction: column;
-        width: 100%;
-        margin: 15px 0;
-        overflow: hidden;
-        user-select: none;
-      }
-
-      :host > * {
-        margin: 5px 0;
-      }
-
-      input[type='number'] {
-        color: white;
-        border: none;
-        font-weight: 300;
-        background: rgba(255, 255, 255, 0.25);
-        padding: 1px 2px;
-      }
-
-      ul {
-        list-style: none;
-        padding: 0;
-        margin: 0;
-      }
-
-      input[type='range'] {
-        -webkit-appearance: none;
-        border: none;
-        outline: none;
-        width: 100%;
-        flex: 1;
-        height: 16px;
-        background-color: transparent;
-      }
-      input[type='range']::-webkit-slider-runnable-track {
-        width: 100%;
-        height: 1px;
-        background: white;
-        border: none;
-        border-radius: 5px;
-      }
-      input[type='range']::-webkit-slider-thumb {
-        -webkit-appearance: none;
-        border: none;
-        height: 10px;
-        width: 10px;
-        border-radius: 50%;
-        background: white;
-        margin-top: -5px;
-      }
-      input[type='range']:focus {
-        outline: none;
-      }
-      input[type='range']:focus::-webkit-slider-runnable-track {
-        background: white;
-      }
-
-      input[type='range']::-moz-range-track {
-        width: 100%;
-        height: 1px;
-        background: white;
-        border: none;
-        border-radius: 5px;
-      }
-      input[type='range']::-moz-range-thumb {
-        border: none;
-        height: 10px;
-        width: 10px;
-        border-radius: 50%;
-        background: white;
-      }
-
-      input[type='range']:-moz-focusring {
-        outline: 1px solid white;
-        outline-offset: -1px;
-      }
-
-      input[type='range']::-ms-track {
-        width: 100%;
-        height: 1px;
-        background: white;
-        border-radius: 10px;
-        color: transparent;
-        border: none;
-        outline: none;
-      }
-      input[type='range']::-ms-thumb {
-        height: 10px;
-        width: 10px;
-        border-radius: 50%;
-        background: white;
-        border: none;
-        outline: none;
-        margin-top: 2px;
-      }
-
-      input:focus {
-        outline: none;
-        opacity: 1;
-      }
-
-      /* list of joint sliders */
-      ul {
-        flex: 1;
-        overflow-y: auto;
-      }
-
-      li {
-        font-size: 16px;
-        display: flex;
-        align-items: center;
-        padding: 1px 0;
-
-        width: 100%;
-        user-select: text;
-
-        transition: background 0.25s ease;
-      }
-
-      li[robot-hovered] {
-        background: rgba(255, 255, 255, 0.35);
-      }
-
-      li:hover {
-        background: rgba(255, 255, 255, 0.35);
-      }
-
-      li span {
-        padding: 0 5px;
-        max-width: 125px;
-        text-overflow: ellipsis;
-        overflow: hidden;
-      }
-
-      li input[type='number'] {
-        width: 50px;
-        overflow: hidden;
-      }
-    `
-    ];
-    viewer;
-    robot;
-    render() {
-        const { joints = {} } = this.robot || {};
-        const { ignoreLimits = false } = this.viewer || {};
-        const jointsArray = Object.values(joints);
-        return html `
-      <ul>
-        ${jointsArray.map(joint => {
-            var { jointType, name, angle, limit } = joint;
-            var degVal = Number(angle || 0);
-            if (jointType === 'revolute' || jointType === 'continuous') {
-                degVal *= RAD2DEG;
-            }
-            if (Math.abs(degVal) > 1) {
-                degVal = degVal.toFixed(1);
-            }
-            else {
-                degVal = degVal.toPrecision(2);
-            }
-            var sliderMin;
-            var sliderMax;
-            var inputMin;
-            var inputMax;
-            if (ignoreLimits || jointType === 'continuous') {
-                sliderMin = -6.28;
-                sliderMax = 6.28;
-                inputMin = -6.28 * RAD2DEG;
-                inputMax = 6.28 * RAD2DEG;
-            }
-            else {
-                sliderMin = limit.lower;
-                sliderMax = limit.upper;
-                inputMin = Number(limit.lower) * RAD2DEG;
-                inputMax = Number(limit.upper) * RAD2DEG;
-            }
-            return html `
-            <li joint-type=${jointType} joint-name=${name}>
-              <span title=${name}>${name}</span>
-              <input
-                type="range"
-                .value=${String(angle)}
-                step="0.0001"
-                min=${sliderMin}
-                max=${sliderMax}
-                @input=${(e) => {
-                this.viewer?.setJointValue(name, e.target.value);
-            }}
-              />
-              <input
-                type="number"
-                .value=${degVal}
-                step="0.0001"
-                min=${inputMin}
-                max=${inputMax}
-                @change=${(e) => {
-                this.viewer?.setJointValue(name, Number(e.target.value) * DEG2RAD);
-            }}
-              />
-            </li>
-          `;
-        })}
-      </ul>
-    `;
-    }
-    updated(changes) {
-        if (changes.has('viewer')) {
-            this._setupViewer(this.viewer);
-        }
-    }
-    _setupViewer(viewer) {
-        if (!viewer) {
-            return;
-        }
-        this.robot = viewer.robot;
-        viewer.addEventListener('urdf-processed', () => {
-            this.robot = viewer.robot;
-        });
-        viewer.addEventListener('ignore-limits-change', () => {
-            this.requestUpdate();
-        });
-        viewer.addEventListener('angle-change', (e) => {
-            this.requestUpdate();
-        });
-        viewer.addEventListener('joint-mouseover', (e) => {
-            const j = this.renderRoot.querySelector(`li[joint-name="${e.detail}"]`);
-            if (j) {
-                j.setAttribute('robot-hovered', 'true');
-            }
-        });
-        viewer.addEventListener('joint-mouseout', (e) => {
-            const j = this.renderRoot.querySelector(`li[joint-name="${e.detail}"]`);
-            if (j) {
-                j.removeAttribute('robot-hovered');
-            }
-        });
-        let originalNoAutoRecenter;
-        viewer.addEventListener('manipulate-start', (e) => {
-            const j = this.renderRoot.querySelector(`li[joint-name="${e.detail}"]`);
-            if (j) {
-                // ??
-                j.scrollIntoView({ block: 'nearest' });
-                window.scrollTo(0, 0);
-            }
-            originalNoAutoRecenter = viewer.noAutoRecenter;
-            viewer.noAutoRecenter = true;
-        });
-        viewer.addEventListener('manipulate-end', (e) => {
-            viewer.noAutoRecenter = originalNoAutoRecenter;
-        });
-        registerDragEvents(viewer, () => {
-            this.setColor('#263238');
-        });
-    }
-    setColor(color) {
-        this.viewer.highlightColor = '#' + new THREE.Color(0xffffff).lerp(new THREE.Color(color), 0.35).getHexString();
-    }
-};
-__decorate([
-    property({ type: Object })
-], URDFControllerElement.prototype, "viewer", void 0);
-__decorate([
-    property({ type: Object })
-], URDFControllerElement.prototype, "robot", void 0);
-URDFControllerElement = __decorate([
-    customElement('urdf-controller')
-], URDFControllerElement);
-export default URDFControllerElement;
-//# sourceMappingURL=urdf-controller-element.js.map