@operato/scene-urdf 10.0.0-beta.18 → 10.0.0-beta.19

package/TODO.md

@@ -0,0 +1,58 @@
+# @operato/scene-urdf — TODO
+
+## 물리 시뮬레이션 (Physics)
+
+URDF는 `<inertial>`(질량/관성), `<collision>`(충돌 기하), `<joint limit/dynamics>`
+(effort, velocity, friction, damping), `<mimicJoint>` 등 물리 시뮬레이션에 필요한
+정보를 이미 품고 있다. 현재는 시각(visual) 부분만 사용.
+
+### 레벨별 접근
+
+- **Level 1 — 관절 스무딩**
+  - 목표값 → 현재값 ODE 기반 감쇠 보간
+  - 라이브러리 불필요, 자체 구현
+  - 중력/충돌 없음 — 단순 모션 부드러움만 추가
+
+- **Level 2 — Rapier.js 리지드바디 (권장 정식 해법)**
+  - [Rapier3D](https://rapier.rs/) WASM 통합
+  - URDF link/joint/inertia → Rapier world 매핑
+  - 관절 타입 1:1 매핑 (revolute/prismatic/fixed/spherical)
+  - 중력, 충돌, 마찰 자연스러움
+  - 다른 씬 오브젝트와 충돌 (floor/컨테이너/다른 로봇)
+
+- **Level 3 — 씬 전역 물리 시뮬레이션**
+  - things-scene의 모든 3D 컴포넌트를 물리 월드로 편입
+  - 공장 전역 pick & place, 파레트 쌓기, 컨베이어 물류
+  - things-scene 엔진 수준의 수정 필요
+
+### 활성화 트리거
+
+- `state.physics = 'none' | 'smooth' | 'rigid'` 프로퍼티
+- `'smooth'`: Level 1
+- `'rigid'`: Level 2 (Rapier)
+- `'none'`(기본): 현재처럼 순수 kinematic
+
+### 유스케이스 매핑
+
+| 시나리오 | 필요 레벨 |
+|---|---|
+| 센서 → joint 시각화 (현재 Phase B) | Level 0 (현재) |
+| 자연스러운 움직임 (UX 개선) | Level 1 |
+| pick & place 시뮬레이션 | Level 2 |
+| 사전 프로그래밍 검증 | Level 2 ~ 3 |
+| 사고/충돌 예방 시뮬레이션 | Level 3 |
+
+---
+
+## 기타 후속 과제
+
+- [ ] xacro-parser 재도입 (ros-industrial 로봇 직접 로드)
+- [ ] `package://` 다중 매핑 preset UI 개선 (URL 편집 가능하게)
+- [ ] 번들 에셋(`assets/urdf-packages/dsr_description2/`)의 `package://` 해석
+      자동 설정 preset 추가 (Doosan DSR 16종)
+- [ ] 조인트별 커스텀 auto-animate 파라미터 (state.animate[joint] = {freq,amp,phase})
+- [ ] 조인트 드래그 gizmo (3D 상에서 직접 관절 조작)
+- [ ] IK (inverse kinematics) — end-effector drag로 관절 역산
+- [ ] Trajectory 녹화/재생
+- [ ] KHR_materials_variants 스타일 상태별 재질 swap
+- [ ] ColladaLoader의 Z-UP 경고 suppress (선택)

package/dist/editors/index.d.ts

@@ -1,4 +1,5 @@
 import './property-editor-urdf-joints.js';
+import './property-editor-urdf-preset.js';
 declare const _default: {
     type: string;
     element: string;

package/dist/editors/index.js

@@ -1,8 +1,13 @@
 import './property-editor-urdf-joints.js';
+import './property-editor-urdf-preset.js';
 export default [
     {
         type: 'urdf-joints',
         element: 'property-editor-urdf-joints'
+    },
+    {
+        type: 'urdf-preset',
+        element: 'property-editor-urdf-preset'
     }
 ];
 //# sourceMappingURL=index.js.map

package/dist/editors/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/editors/index.ts"],"names":[],"mappings":"AAAA,OAAO,kCAAkC,CAAA;AACzC,OAAO,kCAAkC,CAAA;AAEzC,eAAe;IACb;QACE,IAAI,EAAE,aAAa;QACnB,OAAO,EAAE,6BAA6B;KACvC;IACD;QACE,IAAI,EAAE,aAAa;QACnB,OAAO,EAAE,6BAA6B;KACvC;CACF,CAAA","sourcesContent":["import './property-editor-urdf-joints.js'\nimport './property-editor-urdf-preset.js'\n\nexport default [\n  {\n    type: 'urdf-joints',\n    element: 'property-editor-urdf-joints'\n  },\n  {\n    type: 'urdf-preset',\n    element: 'property-editor-urdf-preset'\n  }\n]\n"]}

package/dist/editors/property-editor-urdf-joints.js

@@ -103,14 +103,18 @@ let URDFJointsEditor = class URDFJointsEditor extends OxPropertyEditor {
         const joints = (value || {});
         return html `
       <fieldset fullwidth>
-        <legend>Joints</legend>
+        <legend><ox-i18n msgid="label.joints">joints</ox-i18n></legend>
         <div joints-panel>
           ${this.meta.length === 0
-            ? html `<div class="joint-waiting">Waiting for URDF to load…</div>`
+            ? html `<div class="joint-waiting">
+                <ox-i18n msgid="label.waiting-for-urdf-load">waiting for URDF to load…</ox-i18n>
+              </div>`
             : this.meta.map(m => this._renderJointSlider(m, joints))}
         </div>
         ${this.meta.length > 0
-            ? html `<button class="reset-btn" @click=${this._onReset}>Reset all</button>`
+            ? html `<button class="reset-btn" @click=${this._onReset}>
+              <ox-i18n msgid="label.reset-all">reset all</ox-i18n>
+            </button>`
             : null}
       </fieldset>
     `;

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'@operato/i18n/ox-i18n.js'\n\nimport { css, html, TemplateResult } from 'lit'\nimport { customElement, state } from 'lit/decorators.js'\n\nimport { OxPropertyEditor, PropertySpec } from '@operato/property-editor'\nimport { ScrollbarStyles } from '@operato/styles/scrollbar-styles.js'\n\ntype JointMeta = {\n  name: string\n  type: 'fixed' | 'continuous' | 'revolute' | 'planar' | 'prismatic' | 'floating'\n  axis: { x: number; y: number; z: number }\n  limit: { lower: number; upper: number; effort: number; velocity: number }\n}\n\nconst RAD2DEG = 180 / Math.PI\n\n/**\n * URDF 조인트 슬라이더 에디터.\n *\n * 값(value)은 state.joints 객체: `{ [jointName]: number | { value: number } }`.\n * 조인트 메타(이름/타입/axis/limit)는 로드된 RealObjectURDF.jointMeta에서 읽으며,\n * 선택된 컴포넌트 참조를 얻기 위해 `i-need-selected` 커스텀 이벤트를 사용한다.\n *\n * 슬라이더 조작 시 state.joints를 immutable하게 업데이트한 새 객체를 value로\n * 설정 — things-scene setState의 deep-equality 변화 감지를 통과시키기 위함.\n */\n@customElement('property-editor-urdf-joints')\nexport default class URDFJointsEditor extends OxPropertyEditor {\n  static styles = [\n    ...OxPropertyEditor.styles,\n    ScrollbarStyles,\n    css`\n      [joints-panel] {\n        max-height: 320px;\n        overflow-y: auto;\n        padding: 4px 0;\n      }\n\n      .joint-row {\n        display: grid;\n        grid-template-columns: 80px 1fr 60px;\n        gap: 6px;\n        align-items: center;\n        margin: 3px 0;\n      }\n\n      .joint-row > .joint-name {\n        font-size: 11px;\n        color: var(--md-sys-color-on-surface, #1c1b1f);\n        text-align: right;\n        overflow: hidden;\n        text-overflow: ellipsis;\n        white-space: nowrap;\n      }\n\n      .joint-row > .joint-name[data-fixed] {\n        color: var(--md-sys-color-on-surface-variant, #888);\n        font-style: italic;\n      }\n\n      .joint-row > input[type='range'] {\n        width: 100%;\n        accent-color: var(--md-sys-color-primary, #6750a4);\n      }\n\n      .joint-row > .joint-value {\n        font: 11px monospace;\n        color: var(--md-sys-color-on-surface-variant, #666);\n        text-align: right;\n      }\n\n      .joint-empty,\n      .joint-waiting {\n        font-size: 11px;\n        color: var(--md-sys-color-on-surface-variant, #888);\n        padding: 8px 10px;\n        font-style: italic;\n      }\n\n      .joint-type-badge {\n        display: inline-block;\n        font-size: 9px;\n        padding: 1px 5px;\n        margin-left: 4px;\n        border-radius: 6px;\n        background: var(--md-sys-color-secondary-container, #e8def8);\n        color: var(--md-sys-color-on-secondary-container, #1d192b);\n        text-transform: uppercase;\n      }\n\n      .reset-btn {\n        font-size: 10px;\n        padding: 3px 8px;\n        margin-top: 4px;\n        border: 1px solid var(--md-sys-color-outline-variant, rgba(0, 0, 0, 0.2));\n        border-radius: 6px;\n        background: var(--md-sys-color-surface-container, #f3edf7);\n        cursor: pointer;\n        color: var(--md-sys-color-on-surface, #1c1b1f);\n      }\n      .reset-btn:hover {\n        background: var(--md-sys-color-surface-container-highest, #e6e0e9);\n      }\n    `\n  ]\n\n  private _component: any = null\n  private _pollTimer?: number\n\n  @state() declare meta: JointMeta[]\n\n  constructor() {\n    super()\n    this.meta = []\n  }\n\n  editorTemplate(value: any, _spec: PropertySpec): TemplateResult {\n    const joints = (value || {}) as Record<string, number | { value?: number }>\n\n    return html`\n      <fieldset fullwidth>\n        <legend>Joints</legend>\n        <div joints-panel>\n          ${this.meta.length === 0\n            ? html`<div class=\"joint-waiting\">Waiting for URDF to load…</div>`\n            : this.meta.map(m => this._renderJointSlider(m, joints))}\n        </div>\n        ${this.meta.length > 0\n          ? html`<button class=\"reset-btn\" @click=${this._onReset}>Reset all</button>`\n          : null}\n      </fieldset>\n    `\n  }\n\n  private _renderJointSlider(m: JointMeta, joints: Record<string, number | { value?: number }>) {\n    const raw = joints[m.name]\n    const internal = typeof raw === 'number' ? raw : (raw?.value ?? 0)\n    const isRad = m.type === 'revolute' || m.type === 'continuous'\n    const scale = isRad ? RAD2DEG : 1\n    const unit = isRad ? '°' : 'm'\n    const minDisp = m.limit.lower * scale\n    const maxDisp = m.limit.upper * scale\n    const dispVal = internal * scale\n    const step = isRad ? 1 : Math.max((m.limit.upper - m.limit.lower) / 100, 0.001)\n\n    return html`\n      <div class=\"joint-row\">\n        <span class=\"joint-name\" title=\"${m.name} (${m.type})\">\n          ${m.name}\n          <span class=\"joint-type-badge\">${m.type.substring(0, 3)}</span>\n        </span>\n        <input\n          type=\"range\"\n          min=${minDisp}\n          max=${maxDisp}\n          step=${step}\n          .value=${String(dispVal)}\n          data-joint=${m.name}\n          data-scale=${scale}\n          @input=${this._onSlide}\n          @change=${this._stopChange}\n        />\n        <span class=\"joint-value\">${dispVal.toFixed(isRad ? 1 : 3)}${unit}</span>\n      </div>\n    `\n  }\n\n  private _onSlide = (e: Event) => {\n    e.stopPropagation()\n    const input = e.target as HTMLInputElement\n    const jointName = input.dataset.joint!\n    const scale = parseFloat(input.dataset.scale || '1')\n    const internal = parseFloat(input.value) / scale\n\n    // 이전 값을 immutable하게 새 객체로 머지. state.joints를 mutate하면\n    // setState의 deep-equality 체크에서 before=after로 판정되어 change 감지\n    // 실패 → onchange가 fire되지 않음. Phase 1에서 확인된 규칙.\n    const prev = (this.value || {}) as Record<string, any>\n    const next = { ...prev, [jointName]: internal }\n    this.value = next\n\n    this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n  }\n\n  /**\n   * 슬라이더 드래그 종료 시 브라우저가 네이티브 'change' 이벤트를 발행한다.\n   * 이 이벤트가 OxPropertyEditor 베이스의 _valueChanged(renderRoot 리스너)에\n   * 도달하면 input.value(문자열)를 this.value에 assign해버려서 joints 객체가\n   * \"45\" 같은 문자열로 덮어쓰여진다. shadow DOM 내부에서 바로 stopPropagation.\n   */\n  private _stopChange = (e: Event) => {\n    e.stopPropagation()\n  }\n\n  private _onReset = (e: MouseEvent) => {\n    e.stopPropagation()\n    this.value = {}\n    this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n  }\n\n  connectedCallback() {\n    super.connectedCallback()\n    this._requestSelectedComponent()\n  }\n\n  disconnectedCallback() {\n    super.disconnectedCallback()\n    if (this._pollTimer) {\n      clearInterval(this._pollTimer)\n      this._pollTimer = undefined\n    }\n  }\n\n  /**\n   * 선택된 URDF 컴포넌트를 얻어 jointMeta를 읽는다. 로드가 아직이면 주기적 폴링.\n   */\n  private _requestSelectedComponent() {\n    this.dispatchEvent(\n      new CustomEvent('i-need-selected', {\n        bubbles: true,\n        composed: true,\n        detail: {\n          callback: (selected: any[]) => {\n            const component = selected?.[0]\n            if (!component) return\n            this._component = component\n            this._refreshJointMeta()\n          }\n        }\n      })\n    )\n  }\n\n  private _refreshJointMeta() {\n    const ro = this._component?.realObject\n    const meta: JointMeta[] | undefined = ro?.jointMeta\n    if (meta && meta.length > 0) {\n      this.meta = meta\n      if (this._pollTimer) {\n        clearInterval(this._pollTimer)\n        this._pollTimer = undefined\n      }\n      return\n    }\n\n    // 아직 로드 전이면 폴링 (최대 20회 = 10초)\n    if (this._pollTimer) return\n    let retries = 0\n    this._pollTimer = window.setInterval(() => {\n      const m = this._component?.realObject?.jointMeta\n      if (m && m.length > 0) {\n        this.meta = m\n        clearInterval(this._pollTimer!)\n        this._pollTimer = undefined\n      } else if (++retries >= 20) {\n        clearInterval(this._pollTimer!)\n        this._pollTimer = undefined\n      }\n    }, 500)\n  }\n}\n"]}
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'@operato/i18n/ox-i18n.js'\n\nimport { css, html, TemplateResult } from 'lit'\nimport { customElement, state } from 'lit/decorators.js'\n\nimport { OxPropertyEditor, PropertySpec } from '@operato/property-editor'\nimport { ScrollbarStyles } from '@operato/styles/scrollbar-styles.js'\n\ntype JointMeta = {\n  name: string\n  type: 'fixed' | 'continuous' | 'revolute' | 'planar' | 'prismatic' | 'floating'\n  axis: { x: number; y: number; z: number }\n  limit: { lower: number; upper: number; effort: number; velocity: number }\n}\n\nconst RAD2DEG = 180 / Math.PI\n\n/**\n * URDF 조인트 슬라이더 에디터.\n *\n * 값(value)은 state.joints 객체: `{ [jointName]: number | { value: number } }`.\n * 조인트 메타(이름/타입/axis/limit)는 로드된 RealObjectURDF.jointMeta에서 읽으며,\n * 선택된 컴포넌트 참조를 얻기 위해 `i-need-selected` 커스텀 이벤트를 사용한다.\n *\n * 슬라이더 조작 시 state.joints를 immutable하게 업데이트한 새 객체를 value로\n * 설정 — things-scene setState의 deep-equality 변화 감지를 통과시키기 위함.\n */\n@customElement('property-editor-urdf-joints')\nexport default class URDFJointsEditor extends OxPropertyEditor {\n  static styles = [\n    ...OxPropertyEditor.styles,\n    ScrollbarStyles,\n    css`\n      [joints-panel] {\n        max-height: 320px;\n        overflow-y: auto;\n        padding: 4px 0;\n      }\n\n      .joint-row {\n        display: grid;\n        grid-template-columns: 80px 1fr 60px;\n        gap: 6px;\n        align-items: center;\n        margin: 3px 0;\n      }\n\n      .joint-row > .joint-name {\n        font-size: 11px;\n        color: var(--md-sys-color-on-surface, #1c1b1f);\n        text-align: right;\n        overflow: hidden;\n        text-overflow: ellipsis;\n        white-space: nowrap;\n      }\n\n      .joint-row > .joint-name[data-fixed] {\n        color: var(--md-sys-color-on-surface-variant, #888);\n        font-style: italic;\n      }\n\n      .joint-row > input[type='range'] {\n        width: 100%;\n        accent-color: var(--md-sys-color-primary, #6750a4);\n      }\n\n      .joint-row > .joint-value {\n        font: 11px monospace;\n        color: var(--md-sys-color-on-surface-variant, #666);\n        text-align: right;\n      }\n\n      .joint-empty,\n      .joint-waiting {\n        font-size: 11px;\n        color: var(--md-sys-color-on-surface-variant, #888);\n        padding: 8px 10px;\n        font-style: italic;\n      }\n\n      .joint-type-badge {\n        display: inline-block;\n        font-size: 9px;\n        padding: 1px 5px;\n        margin-left: 4px;\n        border-radius: 6px;\n        background: var(--md-sys-color-secondary-container, #e8def8);\n        color: var(--md-sys-color-on-secondary-container, #1d192b);\n        text-transform: uppercase;\n      }\n\n      .reset-btn {\n        font-size: 10px;\n        padding: 3px 8px;\n        margin-top: 4px;\n        border: 1px solid var(--md-sys-color-outline-variant, rgba(0, 0, 0, 0.2));\n        border-radius: 6px;\n        background: var(--md-sys-color-surface-container, #f3edf7);\n        cursor: pointer;\n        color: var(--md-sys-color-on-surface, #1c1b1f);\n      }\n      .reset-btn:hover {\n        background: var(--md-sys-color-surface-container-highest, #e6e0e9);\n      }\n    `\n  ]\n\n  private _component: any = null\n  private _pollTimer?: number\n\n  @state() declare meta: JointMeta[]\n\n  constructor() {\n    super()\n    this.meta = []\n  }\n\n  editorTemplate(value: any, _spec: PropertySpec): TemplateResult {\n    const joints = (value || {}) as Record<string, number | { value?: number }>\n\n    return html`\n      <fieldset fullwidth>\n        <legend><ox-i18n msgid=\"label.joints\">joints</ox-i18n></legend>\n        <div joints-panel>\n          ${this.meta.length === 0\n            ? html`<div class=\"joint-waiting\">\n                <ox-i18n msgid=\"label.waiting-for-urdf-load\">waiting for URDF to load…</ox-i18n>\n              </div>`\n            : this.meta.map(m => this._renderJointSlider(m, joints))}\n        </div>\n        ${this.meta.length > 0\n          ? html`<button class=\"reset-btn\" @click=${this._onReset}>\n              <ox-i18n msgid=\"label.reset-all\">reset all</ox-i18n>\n            </button>`\n          : null}\n      </fieldset>\n    `\n  }\n\n  private _renderJointSlider(m: JointMeta, joints: Record<string, number | { value?: number }>) {\n    const raw = joints[m.name]\n    const internal = typeof raw === 'number' ? raw : (raw?.value ?? 0)\n    const isRad = m.type === 'revolute' || m.type === 'continuous'\n    const scale = isRad ? RAD2DEG : 1\n    const unit = isRad ? '°' : 'm'\n    const minDisp = m.limit.lower * scale\n    const maxDisp = m.limit.upper * scale\n    const dispVal = internal * scale\n    const step = isRad ? 1 : Math.max((m.limit.upper - m.limit.lower) / 100, 0.001)\n\n    return html`\n      <div class=\"joint-row\">\n        <span class=\"joint-name\" title=\"${m.name} (${m.type})\">\n          ${m.name}\n          <span class=\"joint-type-badge\">${m.type.substring(0, 3)}</span>\n        </span>\n        <input\n          type=\"range\"\n          min=${minDisp}\n          max=${maxDisp}\n          step=${step}\n          .value=${String(dispVal)}\n          data-joint=${m.name}\n          data-scale=${scale}\n          @input=${this._onSlide}\n          @change=${this._stopChange}\n        />\n        <span class=\"joint-value\">${dispVal.toFixed(isRad ? 1 : 3)}${unit}</span>\n      </div>\n    `\n  }\n\n  private _onSlide = (e: Event) => {\n    e.stopPropagation()\n    const input = e.target as HTMLInputElement\n    const jointName = input.dataset.joint!\n    const scale = parseFloat(input.dataset.scale || '1')\n    const internal = parseFloat(input.value) / scale\n\n    // 이전 값을 immutable하게 새 객체로 머지. state.joints를 mutate하면\n    // setState의 deep-equality 체크에서 before=after로 판정되어 change 감지\n    // 실패 → onchange가 fire되지 않음. Phase 1에서 확인된 규칙.\n    const prev = (this.value || {}) as Record<string, any>\n    const next = { ...prev, [jointName]: internal }\n    this.value = next\n\n    this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n  }\n\n  /**\n   * 슬라이더 드래그 종료 시 브라우저가 네이티브 'change' 이벤트를 발행한다.\n   * 이 이벤트가 OxPropertyEditor 베이스의 _valueChanged(renderRoot 리스너)에\n   * 도달하면 input.value(문자열)를 this.value에 assign해버려서 joints 객체가\n   * \"45\" 같은 문자열로 덮어쓰여진다. shadow DOM 내부에서 바로 stopPropagation.\n   */\n  private _stopChange = (e: Event) => {\n    e.stopPropagation()\n  }\n\n  private _onReset = (e: MouseEvent) => {\n    e.stopPropagation()\n    this.value = {}\n    this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n  }\n\n  connectedCallback() {\n    super.connectedCallback()\n    this._requestSelectedComponent()\n  }\n\n  disconnectedCallback() {\n    super.disconnectedCallback()\n    if (this._pollTimer) {\n      clearInterval(this._pollTimer)\n      this._pollTimer = undefined\n    }\n  }\n\n  /**\n   * 선택된 URDF 컴포넌트를 얻어 jointMeta를 읽는다. 로드가 아직이면 주기적 폴링.\n   */\n  private _requestSelectedComponent() {\n    this.dispatchEvent(\n      new CustomEvent('i-need-selected', {\n        bubbles: true,\n        composed: true,\n        detail: {\n          callback: (selected: any[]) => {\n            const component = selected?.[0]\n            if (!component) return\n            this._component = component\n            this._refreshJointMeta()\n          }\n        }\n      })\n    )\n  }\n\n  private _refreshJointMeta() {\n    const ro = this._component?.realObject\n    const meta: JointMeta[] | undefined = ro?.jointMeta\n    if (meta && meta.length > 0) {\n      this.meta = meta\n      if (this._pollTimer) {\n        clearInterval(this._pollTimer)\n        this._pollTimer = undefined\n      }\n      return\n    }\n\n    // 아직 로드 전이면 폴링 (최대 20회 = 10초)\n    if (this._pollTimer) return\n    let retries = 0\n    this._pollTimer = window.setInterval(() => {\n      const m = this._component?.realObject?.jointMeta\n      if (m && m.length > 0) {\n        this.meta = m\n        clearInterval(this._pollTimer!)\n        this._pollTimer = undefined\n      } else if (++retries >= 20) {\n        clearInterval(this._pollTimer!)\n        this._pollTimer = undefined\n      }\n    }, 500)\n  }\n}\n"]}

package/dist/editors/property-editor-urdf-preset.d.ts

@@ -0,0 +1,8 @@
+import '@operato/i18n/ox-i18n.js';
+import { TemplateResult } from 'lit';
+import { OxPropertyEditor, PropertySpec } from '@operato/property-editor';
+export default class URDFPresetEditor extends OxPropertyEditor {
+    static styles: import("lit").CSSResult[];
+    editorTemplate(value: any, _spec: PropertySpec): TemplateResult;
+    private _onSelect;
+}

package/dist/editors/property-editor-urdf-preset.js

@@ -0,0 +1,114 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF 프리셋 에디터.
+ * 드롭다운에서 프리셋 선택 시 컴포넌트의 src + 크기/축/스케일을 일괄 업데이트.
+ *
+ * 값: preset id ('custom' 또는 URDF_PRESETS[i].id).
+ * 변경 이벤트: i-need-selected로 컴포넌트에 set() 호출 → src/width/height/depth/
+ * upAxis/unitScale이 한 번에 propagate되어 부모의 undoableChange 한 덩어리로
+ * 묶임.
+ */
+import { __decorate } from "tslib";
+import '@operato/i18n/ox-i18n.js';
+import { css, html } from 'lit';
+import { customElement } from 'lit/decorators.js';
+import { OxPropertyEditor } from '@operato/property-editor';
+import { URDF_PRESETS, findPreset } from '../urdf-presets.js';
+let URDFPresetEditor = class URDFPresetEditor extends OxPropertyEditor {
+    static styles = [
+        ...OxPropertyEditor.styles,
+        css `
+      select {
+        width: 100%;
+        padding: 4px 8px;
+        font-size: 12px;
+        border: 1px solid var(--md-sys-color-outline-variant, rgba(0, 0, 0, 0.2));
+        border-radius: 4px;
+        background: var(--md-sys-color-surface, #fff);
+        color: var(--md-sys-color-on-surface, #1c1b1f);
+      }
+      optgroup {
+        font-style: normal;
+        font-weight: 600;
+      }
+    `
+    ];
+    editorTemplate(value, _spec) {
+        const current = typeof value === 'string' && value ? value : 'custom';
+        // 카테고리별 그룹핑
+        const byCategory = {};
+        for (const preset of URDF_PRESETS) {
+            ;
+            (byCategory[preset.category] ||= []).push(preset);
+        }
+        const categoryOrder = ['arm', 'mobile', 'aerial', 'humanoid', 'quadruped'];
+        const categoryLabel = {
+            arm: 'Manipulators',
+            mobile: 'Mobile Platforms',
+            aerial: 'Aerial',
+            humanoid: 'Humanoids',
+            quadruped: 'Legged'
+        };
+        return html `
+      <select id="editor" @change=${this._onSelect} .value=${current}>
+        <option value="custom" ?selected=${current === 'custom'}>Custom URL…</option>
+        ${categoryOrder.map(cat => {
+            const list = byCategory[cat];
+            if (!list || list.length === 0)
+                return null;
+            return html `
+            <optgroup label=${categoryLabel[cat]}>
+              ${list.map(p => html `<option value=${p.id} ?selected=${current === p.id}>${p.display}</option>`)}
+            </optgroup>
+          `;
+        })}
+      </select>
+    `;
+    }
+    _onSelect = (e) => {
+        e.stopPropagation();
+        const select = e.target;
+        const id = select.value;
+        this.value = id;
+        if (id === 'custom') {
+            // Custom 선택은 현재 src를 건드리지 않음 — 사용자가 직접 src 입력 필드에
+            // URL을 넣도록 둔다.
+            this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }));
+            return;
+        }
+        const preset = findPreset(id);
+        if (!preset)
+            return;
+        // i-need-selected로 컴포넌트에 다중 속성 일괄 set.
+        // property-change 이벤트도 별도로 발행하여 preset 값 자체도 저장.
+        this.dispatchEvent(new CustomEvent('i-need-selected', {
+            bubbles: true,
+            composed: true,
+            detail: {
+                callback: (selected) => {
+                    const component = selected?.[0];
+                    if (!component)
+                        return;
+                    component.set({
+                        preset: id,
+                        src: preset.src,
+                        packages: preset.packages ?? null,
+                        width: preset.width,
+                        height: preset.height,
+                        depth: preset.depth,
+                        upAxis: preset.upAxis,
+                        unitScale: preset.unitScale
+                    });
+                }
+            }
+        }));
+        // 자체 change 이벤트도 발행하여 preset 값이 state에 저장되도록
+        this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }));
+    };
+};
+URDFPresetEditor = __decorate([
+    customElement('property-editor-urdf-preset')
+], URDFPresetEditor);
+export default URDFPresetEditor;
+//# sourceMappingURL=property-editor-urdf-preset.js.map

package/dist/editors/property-editor-urdf-preset.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"property-editor-urdf-preset.js","sourceRoot":"","sources":["../../src/editors/property-editor-urdf-preset.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;;AAEH,OAAO,0BAA0B,CAAA;AAEjC,OAAO,EAAE,GAAG,EAAE,IAAI,EAAkB,MAAM,KAAK,CAAA;AAC/C,OAAO,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAA;AAEjD,OAAO,EAAE,gBAAgB,EAAgB,MAAM,0BAA0B,CAAA;AAEzE,OAAO,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAA;AAG9C,IAAM,gBAAgB,GAAtB,MAAM,gBAAiB,SAAQ,gBAAgB;IAC5D,MAAM,CAAC,MAAM,GAAG;QACd,GAAG,gBAAgB,CAAC,MAAM;QAC1B,GAAG,CAAA;;;;;;;;;;;;;;KAcF;KACF,CAAA;IAED,cAAc,CAAC,KAAU,EAAE,KAAmB;QAC5C,MAAM,OAAO,GAAG,OAAO,KAAK,KAAK,QAAQ,IAAI,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,QAAQ,CAAA;QAErE,YAAY;QACZ,MAAM,UAAU,GAAwC,EAAE,CAAA;QAC1D,KAAK,MAAM,MAAM,IAAI,YAAY,EAAE,CAAC;YAClC,CAAC;YAAA,CAAC,UAAU,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,CAAA;QACpD,CAAC;QACD,MAAM,aAAa,GAAmC,CAAC,KAAK,EAAE,QAAQ,EAAE,QAAQ,EAAE,UAAU,EAAE,WAAW,CAAC,CAAA;QAC1G,MAAM,aAAa,GAA2B;YAC5C,GAAG,EAAE,cAAc;YACnB,MAAM,EAAE,kBAAkB;YAC1B,MAAM,EAAE,QAAQ;YAChB,QAAQ,EAAE,WAAW;YACrB,SAAS,EAAE,QAAQ;SACpB,CAAA;QAED,OAAO,IAAI,CAAA;oCACqB,IAAI,CAAC,SAAS,WAAW,OAAO;2CACzB,OAAO,KAAK,QAAQ;UACrD,aAAa,CAAC,GAAG,CAAC,GAAG,CAAC,EAAE;YACxB,MAAM,IAAI,GAAG,UAAU,CAAC,GAAG,CAAC,CAAA;YAC5B,IAAI,CAAC,IAAI,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC;gBAAE,OAAO,IAAI,CAAA;YAC3C,OAAO,IAAI,CAAA;8BACS,aAAa,CAAC,GAAG,CAAC;gBAChC,IAAI,CAAC,GAAG,CACR,CAAC,CAAC,EAAE,CAAC,IAAI,CAAA,iBAAiB,CAAC,CAAC,EAAE,cAAc,OAAO,KAAK,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,OAAO,WAAW,CACrF;;WAEJ,CAAA;QACH,CAAC,CAAC;;KAEL,CAAA;IACH,CAAC;IAEO,SAAS,GAAG,CAAC,CAAQ,EAAE,EAAE;QAC/B,CAAC,CAAC,eAAe,EAAE,CAAA;QACnB,MAAM,MAAM,GAAG,CAAC,CAAC,MAA2B,CAAA;QAC5C,MAAM,EAAE,GAAG,MAAM,CAAC,KAAK,CAAA;QAEvB,IAAI,CAAC,KAAK,GAAG,EAAE,CAAA;QAEf,IAAI,EAAE,KAAK,QAAQ,EAAE,CAAC;YACpB,kDAAkD;YAClD,eAAe;YACf,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,QAAQ,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;YAChF,OAAM;QACR,CAAC;QAED,MAAM,MAAM,GAAG,UAAU,CAAC,EAAE,CAAC,CAAA;QAC7B,IAAI,CAAC,MAAM;YAAE,OAAM;QAEnB,uCAAuC;QACvC,iDAAiD;QACjD,IAAI,CAAC,aAAa,CAChB,IAAI,WAAW,CAAC,iBAAiB,EAAE;YACjC,OAAO,EAAE,IAAI;YACb,QAAQ,EAAE,IAAI;YACd,MAAM,EAAE;gBACN,QAAQ,EAAE,CAAC,QAAe,EAAE,EAAE;oBAC5B,MAAM,SAAS,GAAG,QAAQ,EAAE,CAAC,CAAC,CAAC,CAAA;oBAC/B,IAAI,CAAC,SAAS;wBAAE,OAAM;oBACtB,SAAS,CAAC,GAAG,CAAC;wBACZ,MAAM,EAAE,EAAE;wBACV,GAAG,EAAE,MAAM,CAAC,GAAG;wBACf,QAAQ,EAAE,MAAM,CAAC,QAAQ,IAAI,IAAI;wBACjC,KAAK,EAAE,MAAM,CAAC,KAAK;wBACnB,MAAM,EAAE,MAAM,CAAC,MAAM;wBACrB,KAAK,EAAE,MAAM,CAAC,KAAK;wBACnB,MAAM,EAAE,MAAM,CAAC,MAAM;wBACrB,SAAS,EAAE,MAAM,CAAC,SAAS;qBAC5B,CAAC,CAAA;gBACJ,CAAC;aACF;SACF,CAAC,CACH,CAAA;QAED,6CAA6C;QAC7C,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,QAAQ,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;IAClF,CAAC,CAAA;;AAnGkB,gBAAgB;IADpC,aAAa,CAAC,6BAA6B,CAAC;GACxB,gBAAgB,CAoGpC;eApGoB,gBAAgB","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF 프리셋 에디터.\n * 드롭다운에서 프리셋 선택 시 컴포넌트의 src + 크기/축/스케일을 일괄 업데이트.\n *\n * 값: preset id ('custom' 또는 URDF_PRESETS[i].id).\n * 변경 이벤트: i-need-selected로 컴포넌트에 set() 호출 → src/width/height/depth/\n * upAxis/unitScale이 한 번에 propagate되어 부모의 undoableChange 한 덩어리로\n * 묶임.\n */\n\nimport '@operato/i18n/ox-i18n.js'\n\nimport { css, html, TemplateResult } from 'lit'\nimport { customElement } from 'lit/decorators.js'\n\nimport { OxPropertyEditor, PropertySpec } from '@operato/property-editor'\n\nimport { URDF_PRESETS, findPreset } from '../urdf-presets.js'\n\n@customElement('property-editor-urdf-preset')\nexport default class URDFPresetEditor extends OxPropertyEditor {\n  static styles = [\n    ...OxPropertyEditor.styles,\n    css`\n      select {\n        width: 100%;\n        padding: 4px 8px;\n        font-size: 12px;\n        border: 1px solid var(--md-sys-color-outline-variant, rgba(0, 0, 0, 0.2));\n        border-radius: 4px;\n        background: var(--md-sys-color-surface, #fff);\n        color: var(--md-sys-color-on-surface, #1c1b1f);\n      }\n      optgroup {\n        font-style: normal;\n        font-weight: 600;\n      }\n    `\n  ]\n\n  editorTemplate(value: any, _spec: PropertySpec): TemplateResult {\n    const current = typeof value === 'string' && value ? value : 'custom'\n\n    // 카테고리별 그룹핑\n    const byCategory: Record<string, typeof URDF_PRESETS> = {}\n    for (const preset of URDF_PRESETS) {\n      ;(byCategory[preset.category] ||= []).push(preset)\n    }\n    const categoryOrder: Array<keyof typeof byCategory> = ['arm', 'mobile', 'aerial', 'humanoid', 'quadruped']\n    const categoryLabel: Record<string, string> = {\n      arm: 'Manipulators',\n      mobile: 'Mobile Platforms',\n      aerial: 'Aerial',\n      humanoid: 'Humanoids',\n      quadruped: 'Legged'\n    }\n\n    return html`\n      <select id=\"editor\" @change=${this._onSelect} .value=${current}>\n        <option value=\"custom\" ?selected=${current === 'custom'}>Custom URL…</option>\n        ${categoryOrder.map(cat => {\n          const list = byCategory[cat]\n          if (!list || list.length === 0) return null\n          return html`\n            <optgroup label=${categoryLabel[cat]}>\n              ${list.map(\n                p => html`<option value=${p.id} ?selected=${current === p.id}>${p.display}</option>`\n              )}\n            </optgroup>\n          `\n        })}\n      </select>\n    `\n  }\n\n  private _onSelect = (e: Event) => {\n    e.stopPropagation()\n    const select = e.target as HTMLSelectElement\n    const id = select.value\n\n    this.value = id\n\n    if (id === 'custom') {\n      // Custom 선택은 현재 src를 건드리지 않음 — 사용자가 직접 src 입력 필드에\n      // URL을 넣도록 둔다.\n      this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n      return\n    }\n\n    const preset = findPreset(id)\n    if (!preset) return\n\n    // i-need-selected로 컴포넌트에 다중 속성 일괄 set.\n    // property-change 이벤트도 별도로 발행하여 preset 값 자체도 저장.\n    this.dispatchEvent(\n      new CustomEvent('i-need-selected', {\n        bubbles: true,\n        composed: true,\n        detail: {\n          callback: (selected: any[]) => {\n            const component = selected?.[0]\n            if (!component) return\n            component.set({\n              preset: id,\n              src: preset.src,\n              packages: preset.packages ?? null,\n              width: preset.width,\n              height: preset.height,\n              depth: preset.depth,\n              upAxis: preset.upAxis,\n              unitScale: preset.unitScale\n            })\n          }\n        }\n      })\n    )\n\n    // 자체 change 이벤트도 발행하여 preset 값이 state에 저장되도록\n    this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }))\n  }\n}\n"]}

package/dist/index.d.ts

@@ -1,4 +1,8 @@
 import './urdf-object.js';
+import './smoothing-controller.js';
 export { RealObjectURDF } from './real-object-urdf.js';
 export type { URDFJointState, URDFJointMeta } from './real-object-urdf.js';
 export { URDFObject } from './urdf-object.js';
+export { registerJointController, createJointController, listJointControllers } from './joint-controller.js';
+export type { JointController, JointControllerContext, JointControllerFactory } from './joint-controller.js';
+export { SmoothingController } from './smoothing-controller.js';

package/dist/index.js

@@ -12,6 +12,12 @@
  */
 // @sceneComponent decorator side-effect를 위해 import
 import './urdf-object.js';
+// 기본 'smooth' controller 등록 (side-effect)
+import './smoothing-controller.js';
 export { RealObjectURDF } from './real-object-urdf.js';
 export { URDFObject } from './urdf-object.js';
+// 외부 모듈이 자체 JointController를 등록할 때 사용하는 공개 API.
+// 예: @operato/scene-urdf-rapier가 `registerJointController('rapier', ...)`.
+export { registerJointController, createJointController, listJointControllers } from './joint-controller.js';
+export { SmoothingController } from './smoothing-controller.js';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAEH,mDAAmD;AACnD,OAAO,kBAAkB,CAAA;AAEzB,OAAO,EAAE,cAAc,EAAE,MAAM,uBAAuB,CAAA;AAEtD,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF 플러그인 — things-scene의 RealObjectExternalModel 베이스를 상속받아\n * URDF(Unified Robot Description Format) 로봇을 네이티브 3D 씬 오브젝트로\n * 렌더링한다. @sceneComponent('urdf')로 등록되어 things-factory 보드에서\n * 일반 컴포넌트처럼 사용 가능.\n *\n * 기본 loader는 STL/DAE/GLB를 지원하며, GLB는 things-scene의 RealObjectGLTF\n * 캐시와 공유한다. xacro 전처리는 현재 미지원(ros-industrial 로봇 등은 사전\n * 변환된 URDF 필요).\n */\n\n// @sceneComponent decorator side-effect를 위해 import\nimport './urdf-object.js'\n\nexport { RealObjectURDF } from './real-object-urdf.js'\nexport type { URDFJointState, URDFJointMeta } from './real-object-urdf.js'\nexport { URDFObject } from './urdf-object.js'\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAEH,mDAAmD;AACnD,OAAO,kBAAkB,CAAA;AACzB,0CAA0C;AAC1C,OAAO,2BAA2B,CAAA;AAElC,OAAO,EAAE,cAAc,EAAE,MAAM,uBAAuB,CAAA;AAEtD,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA;AAE7C,gDAAgD;AAChD,2EAA2E;AAC3E,OAAO,EACL,uBAAuB,EACvB,qBAAqB,EACrB,oBAAoB,EACrB,MAAM,uBAAuB,CAAA;AAM9B,OAAO,EAAE,mBAAmB,EAAE,MAAM,2BAA2B,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF 플러그인 — things-scene의 RealObjectExternalModel 베이스를 상속받아\n * URDF(Unified Robot Description Format) 로봇을 네이티브 3D 씬 오브젝트로\n * 렌더링한다. @sceneComponent('urdf')로 등록되어 things-factory 보드에서\n * 일반 컴포넌트처럼 사용 가능.\n *\n * 기본 loader는 STL/DAE/GLB를 지원하며, GLB는 things-scene의 RealObjectGLTF\n * 캐시와 공유한다. xacro 전처리는 현재 미지원(ros-industrial 로봇 등은 사전\n * 변환된 URDF 필요).\n */\n\n// @sceneComponent decorator side-effect를 위해 import\nimport './urdf-object.js'\n// 기본 'smooth' controller 등록 (side-effect)\nimport './smoothing-controller.js'\n\nexport { RealObjectURDF } from './real-object-urdf.js'\nexport type { URDFJointState, URDFJointMeta } from './real-object-urdf.js'\nexport { URDFObject } from './urdf-object.js'\n\n// 외부 모듈이 자체 JointController를 등록할 때 사용하는 공개 API.\n// 예: @operato/scene-urdf-rapier가 `registerJointController('rapier', ...)`.\nexport {\n  registerJointController,\n  createJointController,\n  listJointControllers\n} from './joint-controller.js'\nexport type {\n  JointController,\n  JointControllerContext,\n  JointControllerFactory\n} from './joint-controller.js'\nexport { SmoothingController } from './smoothing-controller.js'\n"]}

package/dist/joint-controller.d.ts

@@ -0,0 +1,35 @@
+import type { URDFRobot, URDFJoint } from 'urdf-loader';
+import type { URDFJointMeta } from './real-object-urdf.js';
+export interface JointControllerContext {
+    robot: URDFRobot;
+    /** non-fixed + fixed 포함 모든 조인트 */
+    joints: Map<string, URDFJoint>;
+    /** non-fixed 조인트의 메타 (type, axis, limit) — fixed는 제외됨 */
+    jointMeta: Map<string, URDFJointMeta>;
+}
+export interface JointController {
+    /** 로봇 로드 직후 1회 호출. 내부 상태(current/target/velocity 등) 초기화. */
+    setup(ctx: JointControllerContext): void;
+    /**
+     * state.joints 변경 시 호출. controller가 `targets` 맵을 내부 저장하고
+     * tick에서 실제 적용을 결정한다. 각 value는 joint의 internal unit
+     * (revolute=rad, prismatic=m).
+     */
+    setTargets(targets: Record<string, number>): void;
+    /**
+     * 매 프레임 호출 (requestAnimationFrame). dt는 초 단위.
+     * 관절에 값을 적용(joint.setJointValue)하고, 값이 실제로 변경됐다면 true를
+     * 반환 (상위가 invalidate를 결정).
+     */
+    tick(dt: number): boolean;
+    /** 로봇 해제 시 호출. 내부 자원/캐시 정리. */
+    dispose(): void;
+}
+export type JointControllerFactory = () => JointController;
+/**
+ * 외부 패키지가 자신의 controller 구현을 등록한다.
+ * 예: `registerJointController('rapier', () => new RapierJointController())`.
+ */
+export declare function registerJointController(name: string, factory: JointControllerFactory): void;
+export declare function createJointController(name: string): JointController | undefined;
+export declare function listJointControllers(): string[];

package/dist/joint-controller.js

@@ -0,0 +1,34 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF 조인트 제어기 추상화.
+ *
+ * 배경:
+ *   state.joints는 조인트의 "목표값"을 표현하고, 실제 URDFJoint에 적용되는 값은
+ *   어떤 정책을 따를지에 따라 달라질 수 있다.
+ *     - Direct: 목표값을 즉시 적용 (현재 기본 동작)
+ *     - Smooth: 스프링-댐퍼로 부드럽게 수렴
+ *     - Rapier 등 물리: rigid body 시뮬레이션의 결과를 관절에 반영
+ *
+ *   이들은 모두 "목표값 → 실제 적용값" 매핑이라는 공통 추상으로 묶을 수 있다.
+ *
+ * 확장:
+ *   외부 패키지가 `registerJointController('rapier', ...)` 형태로 구현을 등록해
+ *   urdf 컴포넌트의 state.physics 값을 통해 선택 가능. 예를 들어 미래의
+ *   `@operato/scene-urdf-rapier` 패키지가 Rapier 기반 controller를 register.
+ */
+const registry = new Map();
+/**
+ * 외부 패키지가 자신의 controller 구현을 등록한다.
+ * 예: `registerJointController('rapier', () => new RapierJointController())`.
+ */
+export function registerJointController(name, factory) {
+    registry.set(name, factory);
+}
+export function createJointController(name) {
+    return registry.get(name)?.();
+}
+export function listJointControllers() {
+    return [...registry.keys()];
+}
+//# sourceMappingURL=joint-controller.js.map

package/dist/joint-controller.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"joint-controller.js","sourceRoot":"","sources":["../src/joint-controller.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAqCH,MAAM,QAAQ,GAAG,IAAI,GAAG,EAAkC,CAAA;AAE1D;;;GAGG;AACH,MAAM,UAAU,uBAAuB,CAAC,IAAY,EAAE,OAA+B;IACnF,QAAQ,CAAC,GAAG,CAAC,IAAI,EAAE,OAAO,CAAC,CAAA;AAC7B,CAAC;AAED,MAAM,UAAU,qBAAqB,CAAC,IAAY;IAChD,OAAO,QAAQ,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAA;AAC/B,CAAC;AAED,MAAM,UAAU,oBAAoB;IAClC,OAAO,CAAC,GAAG,QAAQ,CAAC,IAAI,EAAE,CAAC,CAAA;AAC7B,CAAC","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF 조인트 제어기 추상화.\n *\n * 배경:\n *   state.joints는 조인트의 \"목표값\"을 표현하고, 실제 URDFJoint에 적용되는 값은\n *   어떤 정책을 따를지에 따라 달라질 수 있다.\n *     - Direct: 목표값을 즉시 적용 (현재 기본 동작)\n *     - Smooth: 스프링-댐퍼로 부드럽게 수렴\n *     - Rapier 등 물리: rigid body 시뮬레이션의 결과를 관절에 반영\n *\n *   이들은 모두 \"목표값 → 실제 적용값\" 매핑이라는 공통 추상으로 묶을 수 있다.\n *\n * 확장:\n *   외부 패키지가 `registerJointController('rapier', ...)` 형태로 구현을 등록해\n *   urdf 컴포넌트의 state.physics 값을 통해 선택 가능. 예를 들어 미래의\n *   `@operato/scene-urdf-rapier` 패키지가 Rapier 기반 controller를 register.\n */\n\nimport type { URDFRobot, URDFJoint } from 'urdf-loader'\nimport type { URDFJointMeta } from './real-object-urdf.js'\n\nexport interface JointControllerContext {\n  robot: URDFRobot\n  /** non-fixed + fixed 포함 모든 조인트 */\n  joints: Map<string, URDFJoint>\n  /** non-fixed 조인트의 메타 (type, axis, limit) — fixed는 제외됨 */\n  jointMeta: Map<string, URDFJointMeta>\n}\n\nexport interface JointController {\n  /** 로봇 로드 직후 1회 호출. 내부 상태(current/target/velocity 등) 초기화. */\n  setup(ctx: JointControllerContext): void\n\n  /**\n   * state.joints 변경 시 호출. controller가 `targets` 맵을 내부 저장하고\n   * tick에서 실제 적용을 결정한다. 각 value는 joint의 internal unit\n   * (revolute=rad, prismatic=m).\n   */\n  setTargets(targets: Record<string, number>): void\n\n  /**\n   * 매 프레임 호출 (requestAnimationFrame). dt는 초 단위.\n   * 관절에 값을 적용(joint.setJointValue)하고, 값이 실제로 변경됐다면 true를\n   * 반환 (상위가 invalidate를 결정).\n   */\n  tick(dt: number): boolean\n\n  /** 로봇 해제 시 호출. 내부 자원/캐시 정리. */\n  dispose(): void\n}\n\nexport type JointControllerFactory = () => JointController\n\nconst registry = new Map<string, JointControllerFactory>()\n\n/**\n * 외부 패키지가 자신의 controller 구현을 등록한다.\n * 예: `registerJointController('rapier', () => new RapierJointController())`.\n */\nexport function registerJointController(name: string, factory: JointControllerFactory): void {\n  registry.set(name, factory)\n}\n\nexport function createJointController(name: string): JointController | undefined {\n  return registry.get(name)?.()\n}\n\nexport function listJointControllers(): string[] {\n  return [...registry.keys()]\n}\n"]}

package/dist/real-object-urdf.d.ts

@@ -28,14 +28,17 @@ export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
     private static _topViewCache;
     /**
      * URDF를 로드한다 (동일 URL 캐시).
-     * mesh 로더는 STL/DAE(내장) + GLB(확장)를 지원한다.
+     * mesh 로더는 STL/DAE(내장) + OBJ(MTL 연동) + GLB(확장)를 지원한다.
      *
      * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는
      * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된
      * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의
      * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.
+     *
+     * `packages` 옵션을 통해 ROS `package://<pkg>/<rel>` prefix 해석을 설정할 수
+     * 있다 (예: `{ a1_description: 'https://.../robots/a1_description' }`).
      */
-    static loadURDF(url: string): Promise<URDFRobot>;
+    static loadURDF(url: string, packages?: Record<string, string>): Promise<URDFRobot>;
     /** 모든 캐시 비움 (보드 전환 시 호출) */
     static flushCache(): void;
     static getTopViewCache(source: string): HTMLCanvasElement | undefined;
@@ -44,6 +47,11 @@ export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
     private _jointIndex;
     private _jointMeta;
     private _jointOriginals;
+    private _animRaf?;
+    private _animStartTime;
+    private _controller?;
+    private _ctrlRaf?;
+    private _ctrlLastTime;
     get robot(): URDFRobot | undefined;
     /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */
     get jointMeta(): URDFJointMeta[];
@@ -57,7 +65,19 @@ export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
      */
     private _buildJointIndex;
     /**
-     * state.joints 맵을 순회하며 각 조인트 값을 적용한다.
+     * state.joints 변경을 적절한 경로로 디스패치한다.
+     *   - controller가 활성이면 setTargets (controller가 스무딩/물리 적용)
+     *   - 없으면 즉시 적용 (direct 모드, 기본)
+     */
+    private _dispatchJointStates;
+    /**
+     * Controller를 인스턴스화하고 setup + tick 루프 시작.
+     * 이미 활성 중이면 먼저 해제.
+     */
+    private _setupController;
+    private _disposeController;
+    /**
+     * state.joints 맵을 순회하며 각 조인트 값을 적용한다 (direct 모드).
      * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).
      *
      * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.
@@ -65,6 +85,17 @@ export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
      * → ThreeCapability.animate → renderThreeD.
      */
     private _applyJointStates;
+    /**
+     * 자동 sine 애니메이션 시작.
+     * 각 non-fixed 조인트를 limit 범위 내에서 sine 스윙. 조인트 순서에 따라
+     * frequency와 phase를 약간씩 다르게 해 동기화를 피하고 유기적 움직임을 만든다.
+     *
+     * state.joints를 건드리지 않고 joint.setJointValue만 직접 호출 — state 변경
+     * cascade를 피해 성능을 유지하고, 슬라이더가 있는 경우에도 state와 시각이
+     * 분리되어 표시됨 (활성 시 state는 의미 없음).
+     */
+    private _startAutoAnimate;
+    private _stopAutoAnimate;
     /**
      * 모든 조인트를 원본 값으로 복원한다.
      */