@operato/scene-urdf 10.0.0-beta.2 → 10.0.0-beta.22

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.2",
+  "version": "10.0.0-beta.22",
   "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": "350ece104754d007967cf8e3f54d0d157465e94a"
+  "gitHead": "f48e52f4f5fdc30ec06af9da7cf253f6e29cfb0e"
 }

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;

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

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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;
-}