@operato/scene-urdf 10.0.0-beta.1 → 10.0.0-beta.19

package/dist/urdf-object.js

@@ -0,0 +1,190 @@
+/*
+ * 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: 'urdf-preset',
+            label: 'preset',
+            name: 'preset'
+        },
+        {
+            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: 'select',
+            label: 'auto-animate',
+            name: 'autoAnimate',
+            property: {
+                options: [
+                    { display: 'Off', value: 'none' },
+                    { display: 'Sine swing', value: 'sine' }
+                ]
+            }
+        },
+        {
+            type: 'select',
+            label: 'physics',
+            name: 'physics',
+            property: {
+                options: [
+                    { display: 'Direct (immediate)', value: 'none' },
+                    { display: 'Smooth (damped)', value: 'smooth' }
+                ]
+            }
+        },
+        {
+            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: 'urdf-preset',\n      label: 'preset',\n      name: 'preset'\n    },\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: 'select',\n      label: 'auto-animate',\n      name: 'autoAnimate',\n      property: {\n        options: [\n          { display: 'Off', value: 'none' },\n          { display: 'Sine swing', value: 'sine' }\n        ]\n      }\n    },\n    {\n      type: 'select',\n      label: 'physics',\n      name: 'physics',\n      property: {\n        options: [\n          { display: 'Direct (immediate)', value: 'none' },\n          { display: 'Smooth (damped)', value: 'smooth' }\n        ]\n      }\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/dist/urdf-presets.d.ts

@@ -0,0 +1,22 @@
+export interface UrdfPreset {
+    /** 고유 식별자 (select value) */
+    id: string;
+    /** 표시 이름 */
+    display: string;
+    /** 로봇 분류 (arm / mobile / aerial / humanoid / quadruped) */
+    category: 'arm' | 'mobile' | 'aerial' | 'humanoid' | 'quadruped';
+    /** URDF 파일 URL */
+    src: string;
+    /** 컴포넌트 기본 dimension (mm). 로드 시 uniform best-fit scale 적용. */
+    width: number;
+    height: number;
+    depth: number;
+    /** 좌표계 up 축 (URDF는 보통 'z') */
+    upAxis: 'z' | 'y';
+    /** URDF meter → 에디터 mm 스케일 (보통 1000) */
+    unitScale: number;
+    /** ROS `package://<pkg>/...` prefix 해석 맵. 없으면 URDF 상대 경로만 지원. */
+    packages?: Record<string, string>;
+}
+export declare const URDF_PRESETS: UrdfPreset[];
+export declare function findPreset(id: string): UrdfPreset | undefined;

package/dist/urdf-presets.js

@@ -0,0 +1,176 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * 공개된 URDF 프리셋 목록. 프리셋 선택 시 컴포넌트의 src 뿐 아니라 크기/축/
+ * 단위 스케일도 적절한 기본값으로 함께 설정한다. 모든 URL은 raw.githubusercontent
+ * .com 경유로 CORS 열려있음.
+ */
+export const URDF_PRESETS = [
+    {
+        id: 'ur5',
+        display: 'Universal Robots UR5 (6-DOF arm)',
+        category: 'arm',
+        src: 'https://raw.githubusercontent.com/mmatl/urdfpy/master/tests/data/ur5/ur5.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'kuka-iiwa',
+        display: 'KUKA LBR iiwa (7-DOF arm)',
+        category: 'arm',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/kuka_iiwa/model.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'kuka-lwr',
+        display: 'KUKA LWR (7-DOF research arm)',
+        category: 'arm',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/kuka_lwr/kuka.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'widowx',
+        display: 'WidowX (6-DOF small arm)',
+        category: 'arm',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/widowx/widowx.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'husky',
+        display: 'Clearpath Husky (4-wheel mobile)',
+        category: 'mobile',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/husky/husky.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'minitaur',
+        display: 'Ghost Minitaur (quadruped)',
+        category: 'quadruped',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/quadruped/minitaur.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'quadrotor',
+        display: 'Quadrotor (drone)',
+        category: 'aerial',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/Quadrotor/quadrotor.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'nao',
+        display: 'Aldebaran NAO (humanoid)',
+        category: 'humanoid',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/humanoid/nao.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'racecar',
+        display: 'Racecar (4-wheel)',
+        category: 'mobile',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/racecar/racecar.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'differential',
+        display: 'Differential Drive (simple mobile)',
+        category: 'mobile',
+        src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/differential/diff_ring.urdf',
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    // --- Unitree Robotics 시리즈 (package:// 경로 사용) ---
+    {
+        id: 'unitree-a1',
+        display: 'Unitree A1 (mini quadruped)',
+        category: 'quadruped',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/a1_description/urdf/a1.urdf',
+        packages: {
+            a1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/a1_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'unitree-go1',
+        display: 'Unitree Go1 (quadruped)',
+        category: 'quadruped',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/go1_description/urdf/go1.urdf',
+        packages: {
+            go1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/go1_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'unitree-aliengo',
+        display: 'Unitree Aliengo (large quadruped)',
+        category: 'quadruped',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/aliengo_description/urdf/aliengo.urdf',
+        packages: {
+            aliengo_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/aliengo_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'unitree-laikago',
+        display: 'Unitree Laikago (quadruped)',
+        category: 'quadruped',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/laikago_description/urdf/laikago.urdf',
+        packages: {
+            laikago_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/laikago_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'unitree-z1',
+        display: 'Unitree Z1 (6-DOF arm)',
+        category: 'arm',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/z1_description/xacro/z1.urdf',
+        packages: {
+            z1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/z1_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    },
+    {
+        id: 'unitree-h1',
+        display: 'Unitree H1 (humanoid)',
+        category: 'humanoid',
+        src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_description/urdf/h1.urdf',
+        packages: {
+            h1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_description'
+        },
+        width: 200, height: 200, depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    }
+];
+export function findPreset(id) {
+    return URDF_PRESETS.find(p => p.id === id);
+}
+//# sourceMappingURL=urdf-presets.js.map

package/dist/urdf-presets.js.map

@@ -0,0 +1 @@
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All rights reserved.\n *\n * 공개된 URDF 프리셋 목록. 프리셋 선택 시 컴포넌트의 src 뿐 아니라 크기/축/\n * 단위 스케일도 적절한 기본값으로 함께 설정한다. 모든 URL은 raw.githubusercontent\n * .com 경유로 CORS 열려있음.\n */\n\nexport interface UrdfPreset {\n  /** 고유 식별자 (select value) */\n  id: string\n  /** 표시 이름 */\n  display: string\n  /** 로봇 분류 (arm / mobile / aerial / humanoid / quadruped) */\n  category: 'arm' | 'mobile' | 'aerial' | 'humanoid' | 'quadruped'\n  /** URDF 파일 URL */\n  src: string\n  /** 컴포넌트 기본 dimension (mm). 로드 시 uniform best-fit scale 적용. */\n  width: number\n  height: number\n  depth: number\n  /** 좌표계 up 축 (URDF는 보통 'z') */\n  upAxis: 'z' | 'y'\n  /** URDF meter → 에디터 mm 스케일 (보통 1000) */\n  unitScale: number\n  /** ROS `package://<pkg>/...` prefix 해석 맵. 없으면 URDF 상대 경로만 지원. */\n  packages?: Record<string, string>\n}\n\nexport const URDF_PRESETS: UrdfPreset[] = [\n  {\n    id: 'ur5',\n    display: 'Universal Robots UR5 (6-DOF arm)',\n    category: 'arm',\n    src: 'https://raw.githubusercontent.com/mmatl/urdfpy/master/tests/data/ur5/ur5.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'kuka-iiwa',\n    display: 'KUKA LBR iiwa (7-DOF arm)',\n    category: 'arm',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/kuka_iiwa/model.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'kuka-lwr',\n    display: 'KUKA LWR (7-DOF research arm)',\n    category: 'arm',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/kuka_lwr/kuka.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'widowx',\n    display: 'WidowX (6-DOF small arm)',\n    category: 'arm',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/widowx/widowx.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'husky',\n    display: 'Clearpath Husky (4-wheel mobile)',\n    category: 'mobile',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/husky/husky.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'minitaur',\n    display: 'Ghost Minitaur (quadruped)',\n    category: 'quadruped',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/quadruped/minitaur.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'quadrotor',\n    display: 'Quadrotor (drone)',\n    category: 'aerial',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/Quadrotor/quadrotor.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'nao',\n    display: 'Aldebaran NAO (humanoid)',\n    category: 'humanoid',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/humanoid/nao.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'racecar',\n    display: 'Racecar (4-wheel)',\n    category: 'mobile',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/racecar/racecar.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'differential',\n    display: 'Differential Drive (simple mobile)',\n    category: 'mobile',\n    src: 'https://raw.githubusercontent.com/bulletphysics/bullet3/master/data/differential/diff_ring.urdf',\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  // --- Unitree Robotics 시리즈 (package:// 경로 사용) ---\n  {\n    id: 'unitree-a1',\n    display: 'Unitree A1 (mini quadruped)',\n    category: 'quadruped',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/a1_description/urdf/a1.urdf',\n    packages: {\n      a1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/a1_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'unitree-go1',\n    display: 'Unitree Go1 (quadruped)',\n    category: 'quadruped',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/go1_description/urdf/go1.urdf',\n    packages: {\n      go1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/go1_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'unitree-aliengo',\n    display: 'Unitree Aliengo (large quadruped)',\n    category: 'quadruped',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/aliengo_description/urdf/aliengo.urdf',\n    packages: {\n      aliengo_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/aliengo_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'unitree-laikago',\n    display: 'Unitree Laikago (quadruped)',\n    category: 'quadruped',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/laikago_description/urdf/laikago.urdf',\n    packages: {\n      laikago_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/laikago_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'unitree-z1',\n    display: 'Unitree Z1 (6-DOF arm)',\n    category: 'arm',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/z1_description/xacro/z1.urdf',\n    packages: {\n      z1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/z1_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  },\n  {\n    id: 'unitree-h1',\n    display: 'Unitree H1 (humanoid)',\n    category: 'humanoid',\n    src: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_description/urdf/h1.urdf',\n    packages: {\n      h1_description: 'https://raw.githubusercontent.com/unitreerobotics/unitree_ros/master/robots/h1_description'\n    },\n    width: 200, height: 200, depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  }\n]\n\nexport function findPreset(id: string): UrdfPreset | undefined {\n  return URDF_PRESETS.find(p => p.id === id)\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.19",
   "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": "a48eaab9f00d20b5adb280183f5ff830237895e7"
 }

package/translations/en.json

@@ -1,18 +1,12 @@
 {
-  "component.urdf-viewer": "URDF viewer",
-  "component.urdf-controller": "URDF controller",
-  "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)"
+  "component.urdf": "URDF",
+  "label.preset": "preset",
+  "label.url": "URL",
+  "label.up-axis": "up axis",
+  "label.unit-scale": "unit scale",
+  "label.auto-animate": "auto animate",
+  "label.physics": "physics",
+  "label.joints": "joints",
+  "label.waiting-for-urdf-load": "waiting for URDF to load…",
+  "label.reset-all": "reset all"
 }

package/translations/ja.json

@@ -1,18 +1,12 @@
 {
-  "component.urdf-viewer": "URDFビューア",
-  "component.urdf-controller": "URDFコントローラ",
-  "label.package": "パッケージ",
-  "label.urdf": "URDF",
-  "label.urdf-reference": "URDFビューア",
-  "label.up": "上軸",
-  "label.display-shadow": "影の表示",
-  "label.ambient-color": "環境色",
-  "label.highlight-color": "ハイライト色",
-  "label.ignore-limits": "リミットを無視",
-  "label.no-auto-recenter": "自動リセンタリングなし",
-  "label.disable-dragging": "ドラッグを無効にする",
-  "label.no-camera-control": "カメラコントロールを無効にする",
-  "label.init-camera-pos-x": "カメラ位置(x)",
-  "label.init-camera-pos-y": "カメラ位置(y)",
-  "label.init-camera-pos-z": "カメラ位置(z)"
+  "component.urdf": "URDF",
+  "label.preset": "プリセット",
+  "label.url": "URL",
+  "label.up-axis": "上軸",
+  "label.unit-scale": "単位スケール",
+  "label.auto-animate": "自動アニメーション",
+  "label.physics": "物理",
+  "label.joints": "関節",
+  "label.waiting-for-urdf-load": "URDFの読み込みを待っています…",
+  "label.reset-all": "すべてリセット"
 }

package/translations/ko.json

@@ -1,18 +1,12 @@
 {
-  "component.urdf-viewer": "URDF 뷰어",
-  "component.urdf-controller": "URDF 컨트롤러",
-  "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)"
+  "component.urdf": "URDF",
+  "label.preset": "프리셋",
+  "label.url": "URL",
+  "label.up-axis": "위 축",
+  "label.unit-scale": "단위 스케일",
+  "label.auto-animate": "자동 애니메이션",
+  "label.physics": "물리",
+  "label.joints": "관절",
+  "label.waiting-for-urdf-load": "URDF 로드 대기 중…",
+  "label.reset-all": "모두 초기화"
 }

package/translations/ms.json

@@ -1,18 +1,12 @@
 {
-  "component.urdf-viewer": "paparan URDF",
-  "component.urdf-controller": "pemacu URDF",
-  "label.package": "pakej",
-  "label.urdf": "URDF",
-  "label.urdf-reference": "paparan URDF",
-  "label.up": "paksi atas",
-  "label.display-shadow": "paparan bayangan",
-  "label.ambient-color": "warna ambien",
-  "label.highlight-color": "warna sorotan",
-  "label.ignore-limits": "abaikan had",
-  "label.no-auto-recenter": "tiada auto-recenter",
-  "label.disable-dragging": "matikan seret",
-  "label.no-camera-control": "matikan kawalan kamera",
-  "label.init-camera-pos-x": "posisi kamera(x)",
-  "label.init-camera-pos-y": "posisi kamera(y)",
-  "label.init-camera-pos-z": "posisi kamera(z)"
+  "component.urdf": "URDF",
+  "label.preset": "pratetap",
+  "label.url": "URL",
+  "label.up-axis": "paksi atas",
+  "label.unit-scale": "skala unit",
+  "label.auto-animate": "animasi auto",
+  "label.physics": "fizik",
+  "label.joints": "sendi",
+  "label.waiting-for-urdf-load": "menunggu URDF dimuatkan…",
+  "label.reset-all": "tetapkan semula semua"
 }

package/translations/zh.json

@@ -1,18 +1,12 @@
 {
-  "component.urdf-viewer": "URDF查看器",
-  "component.urdf-controller": "URDF控制器",
-  "label.package": "软件包",
-  "label.urdf": "URDF",
-  "label.urdf-reference": "URDF查看器",
-  "label.up": "上轴",
-  "label.display-shadow": "显示阴影",
-  "label.ambient-color": "环境颜色",
-  "label.highlight-color": "高亮颜色",
-  "label.ignore-limits": "忽略限制",
-  "label.no-auto-recenter": "不自动居中",
-  "label.disable-dragging": "禁用拖动",
-  "label.no-camera-control": "禁用相机控制",
-  "label.init-camera-pos-x": "相机位置(x)",
-  "label.init-camera-pos-y": "相机位置(y)",
-  "label.init-camera-pos-z": "相机位置(z)"
+  "component.urdf": "URDF",
+  "label.preset": "预设",
+  "label.url": "URL",
+  "label.up-axis": "上轴",
+  "label.unit-scale": "单位比例",
+  "label.auto-animate": "自动动画",
+  "label.physics": "物理",
+  "label.joints": "关节",
+  "label.waiting-for-urdf-load": "正在等待URDF加载…",
+  "label.reset-all": "全部重置"
 }

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;