@operato/scene-urdf 10.0.0-beta.2 → 10.0.0-beta.24

package/README.md

@@ -1,41 +1,38 @@
-# \<scene-urdf>
+# @operato/scene-urdf
 
-## Installation
+> Scene module for manipulating robot simulation through URDF format
 
-```bash
-npm i scene-urdf
-```
+<!-- AUTOGEN_BEGIN: do not edit between markers (run scripts/regenerate-readmes.mjs to update) -->
 
-## Usage
+## Components
 
-```html
+- `RealObjectURDF`
+- `URDFObject`
+- `registerJointController`
+- `createJointController`
+- `listJointControllers`
+- `SmoothingController`
 
-```
-
-## Linting and formatting
-
-To scan the project for linting and formatting errors, run
+## Install
 
 ```bash
-npm run lint
+yarn add @operato/scene-urdf
 ```
 
-To automatically fix linting and formatting errors, run
+## Usage
 
-```bash
-npm run format
+```ts
+import { RealObjectURDF, URDFObject, registerJointController, createJointController, listJointControllers } from '@operato/scene-urdf'
 ```
 
-## Tooling configs
-
-For most of the tools, the configuration is in the `package.json` to reduce the amount of files in your project.
-
-If you customize the configuration a lot, you can consider moving them to individual files.
-
-## Local Demo with `web-dev-server`
+## Build
 
 ```bash
-npm start
+yarn build
 ```
 
-To run a local development server that serves the basic demo located in `demo/index.html`
+Output: ESM module at `dist/index.js` (single bundle, no UMD/IE legacy).
+
+_Version: 10.0.0-beta.19_
+
+<!-- AUTOGEN_END -->

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

@@ -0,0 +1,7 @@
+import './property-editor-urdf-joints.js';
+import './property-editor-urdf-preset.js';
+declare const _default: {
+    type: string;
+    element: string;
+}[];
+export default _default;

package/dist/editors/index.js

@@ -1,2 +1,13 @@
-"use strict";
+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 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/editors/index.ts"],"names":[],"mappings":"","sourcesContent":[""]}
+{"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.d.ts

@@ -0,0 +1,54 @@
+import '@operato/i18n/ox-i18n.js';
+import { TemplateResult } from 'lit';
+import { OxPropertyEditor, PropertySpec } from '@operato/property-editor';
+type JointMeta = {
+    name: string;
+    type: 'fixed' | 'continuous' | 'revolute' | 'planar' | 'prismatic' | 'floating';
+    axis: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    limit: {
+        lower: number;
+        upper: number;
+        effort: number;
+        velocity: number;
+    };
+};
+/**
+ * URDF 조인트 슬라이더 에디터.
+ *
+ * 값(value)은 state.joints 객체: `{ [jointName]: number | { value: number } }`.
+ * 조인트 메타(이름/타입/axis/limit)는 로드된 RealObjectURDF.jointMeta에서 읽으며,
+ * 선택된 컴포넌트 참조를 얻기 위해 `i-need-selected` 커스텀 이벤트를 사용한다.
+ *
+ * 슬라이더 조작 시 state.joints를 immutable하게 업데이트한 새 객체를 value로
+ * 설정 — things-scene setState의 deep-equality 변화 감지를 통과시키기 위함.
+ */
+export default class URDFJointsEditor extends OxPropertyEditor {
+    static styles: import("lit").CSSResult[];
+    private _component;
+    private _pollTimer?;
+    meta: JointMeta[];
+    constructor();
+    editorTemplate(value: any, _spec: PropertySpec): TemplateResult;
+    private _renderJointSlider;
+    private _onSlide;
+    /**
+     * 슬라이더 드래그 종료 시 브라우저가 네이티브 'change' 이벤트를 발행한다.
+     * 이 이벤트가 OxPropertyEditor 베이스의 _valueChanged(renderRoot 리스너)에
+     * 도달하면 input.value(문자열)를 this.value에 assign해버려서 joints 객체가
+     * "45" 같은 문자열로 덮어쓰여진다. shadow DOM 내부에서 바로 stopPropagation.
+     */
+    private _stopChange;
+    private _onReset;
+    connectedCallback(): void;
+    disconnectedCallback(): void;
+    /**
+     * 선택된 URDF 컴포넌트를 얻어 jointMeta를 읽는다. 로드가 아직이면 주기적 폴링.
+     */
+    private _requestSelectedComponent;
+    private _refreshJointMeta;
+}
+export {};

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

@@ -0,0 +1,246 @@
+import { __decorate } from "tslib";
+import '@operato/i18n/ox-i18n.js';
+import { css, html } from 'lit';
+import { customElement, state } from 'lit/decorators.js';
+import { OxPropertyEditor } from '@operato/property-editor';
+import { ScrollbarStyles } from '@operato/styles/scrollbar-styles.js';
+const RAD2DEG = 180 / Math.PI;
+/**
+ * URDF 조인트 슬라이더 에디터.
+ *
+ * 값(value)은 state.joints 객체: `{ [jointName]: number | { value: number } }`.
+ * 조인트 메타(이름/타입/axis/limit)는 로드된 RealObjectURDF.jointMeta에서 읽으며,
+ * 선택된 컴포넌트 참조를 얻기 위해 `i-need-selected` 커스텀 이벤트를 사용한다.
+ *
+ * 슬라이더 조작 시 state.joints를 immutable하게 업데이트한 새 객체를 value로
+ * 설정 — things-scene setState의 deep-equality 변화 감지를 통과시키기 위함.
+ */
+let URDFJointsEditor = class URDFJointsEditor extends OxPropertyEditor {
+    static styles = [
+        ...OxPropertyEditor.styles,
+        ScrollbarStyles,
+        css `
+      [joints-panel] {
+        max-height: 320px;
+        overflow-y: auto;
+        padding: 4px 0;
+      }
+
+      .joint-row {
+        display: grid;
+        grid-template-columns: 80px 1fr 60px;
+        gap: 6px;
+        align-items: center;
+        margin: 3px 0;
+      }
+
+      .joint-row > .joint-name {
+        font-size: 11px;
+        color: var(--md-sys-color-on-surface, #1c1b1f);
+        text-align: right;
+        overflow: hidden;
+        text-overflow: ellipsis;
+        white-space: nowrap;
+      }
+
+      .joint-row > .joint-name[data-fixed] {
+        color: var(--md-sys-color-on-surface-variant, #888);
+        font-style: italic;
+      }
+
+      .joint-row > input[type='range'] {
+        width: 100%;
+        accent-color: var(--md-sys-color-primary, #6750a4);
+      }
+
+      .joint-row > .joint-value {
+        font: 11px monospace;
+        color: var(--md-sys-color-on-surface-variant, #666);
+        text-align: right;
+      }
+
+      .joint-empty,
+      .joint-waiting {
+        font-size: 11px;
+        color: var(--md-sys-color-on-surface-variant, #888);
+        padding: 8px 10px;
+        font-style: italic;
+      }
+
+      .joint-type-badge {
+        display: inline-block;
+        font-size: 9px;
+        padding: 1px 5px;
+        margin-left: 4px;
+        border-radius: 6px;
+        background: var(--md-sys-color-secondary-container, #e8def8);
+        color: var(--md-sys-color-on-secondary-container, #1d192b);
+        text-transform: uppercase;
+      }
+
+      .reset-btn {
+        font-size: 10px;
+        padding: 3px 8px;
+        margin-top: 4px;
+        border: 1px solid var(--md-sys-color-outline-variant, rgba(0, 0, 0, 0.2));
+        border-radius: 6px;
+        background: var(--md-sys-color-surface-container, #f3edf7);
+        cursor: pointer;
+        color: var(--md-sys-color-on-surface, #1c1b1f);
+      }
+      .reset-btn:hover {
+        background: var(--md-sys-color-surface-container-highest, #e6e0e9);
+      }
+    `
+    ];
+    _component = null;
+    _pollTimer;
+    constructor() {
+        super();
+        this.meta = [];
+    }
+    editorTemplate(value, _spec) {
+        const joints = (value || {});
+        return html `
+      <fieldset fullwidth>
+        <legend><ox-i18n msgid="label.joints">joints</ox-i18n></legend>
+        <div joints-panel>
+          ${this.meta.length === 0
+            ? 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}>
+              <ox-i18n msgid="label.reset-all">reset all</ox-i18n>
+            </button>`
+            : null}
+      </fieldset>
+    `;
+    }
+    _renderJointSlider(m, joints) {
+        const raw = joints[m.name];
+        const internal = typeof raw === 'number' ? raw : (raw?.value ?? 0);
+        const isRad = m.type === 'revolute' || m.type === 'continuous';
+        const scale = isRad ? RAD2DEG : 1;
+        const unit = isRad ? '°' : 'm';
+        const minDisp = m.limit.lower * scale;
+        const maxDisp = m.limit.upper * scale;
+        const dispVal = internal * scale;
+        const step = isRad ? 1 : Math.max((m.limit.upper - m.limit.lower) / 100, 0.001);
+        return html `
+      <div class="joint-row">
+        <span class="joint-name" title="${m.name} (${m.type})">
+          ${m.name}
+          <span class="joint-type-badge">${m.type.substring(0, 3)}</span>
+        </span>
+        <input
+          type="range"
+          min=${minDisp}
+          max=${maxDisp}
+          step=${step}
+          .value=${String(dispVal)}
+          data-joint=${m.name}
+          data-scale=${scale}
+          @input=${this._onSlide}
+          @change=${this._stopChange}
+        />
+        <span class="joint-value">${dispVal.toFixed(isRad ? 1 : 3)}${unit}</span>
+      </div>
+    `;
+    }
+    _onSlide = (e) => {
+        e.stopPropagation();
+        const input = e.target;
+        const jointName = input.dataset.joint;
+        const scale = parseFloat(input.dataset.scale || '1');
+        const internal = parseFloat(input.value) / scale;
+        // 이전 값을 immutable하게 새 객체로 머지. state.joints를 mutate하면
+        // setState의 deep-equality 체크에서 before=after로 판정되어 change 감지
+        // 실패 → onchange가 fire되지 않음. Phase 1에서 확인된 규칙.
+        const prev = (this.value || {});
+        const next = { ...prev, [jointName]: internal };
+        this.value = next;
+        this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }));
+    };
+    /**
+     * 슬라이더 드래그 종료 시 브라우저가 네이티브 'change' 이벤트를 발행한다.
+     * 이 이벤트가 OxPropertyEditor 베이스의 _valueChanged(renderRoot 리스너)에
+     * 도달하면 input.value(문자열)를 this.value에 assign해버려서 joints 객체가
+     * "45" 같은 문자열로 덮어쓰여진다. shadow DOM 내부에서 바로 stopPropagation.
+     */
+    _stopChange = (e) => {
+        e.stopPropagation();
+    };
+    _onReset = (e) => {
+        e.stopPropagation();
+        this.value = {};
+        this.dispatchEvent(new CustomEvent('change', { bubbles: true, composed: true }));
+    };
+    connectedCallback() {
+        super.connectedCallback();
+        this._requestSelectedComponent();
+    }
+    disconnectedCallback() {
+        super.disconnectedCallback();
+        if (this._pollTimer) {
+            clearInterval(this._pollTimer);
+            this._pollTimer = undefined;
+        }
+    }
+    /**
+     * 선택된 URDF 컴포넌트를 얻어 jointMeta를 읽는다. 로드가 아직이면 주기적 폴링.
+     */
+    _requestSelectedComponent() {
+        this.dispatchEvent(new CustomEvent('i-need-selected', {
+            bubbles: true,
+            composed: true,
+            detail: {
+                callback: (selected) => {
+                    const component = selected?.[0];
+                    if (!component)
+                        return;
+                    this._component = component;
+                    this._refreshJointMeta();
+                }
+            }
+        }));
+    }
+    _refreshJointMeta() {
+        const ro = this._component?.realObject;
+        const meta = ro?.jointMeta;
+        if (meta && meta.length > 0) {
+            this.meta = meta;
+            if (this._pollTimer) {
+                clearInterval(this._pollTimer);
+                this._pollTimer = undefined;
+            }
+            return;
+        }
+        // 아직 로드 전이면 폴링 (최대 20회 = 10초)
+        if (this._pollTimer)
+            return;
+        let retries = 0;
+        this._pollTimer = window.setInterval(() => {
+            const m = this._component?.realObject?.jointMeta;
+            if (m && m.length > 0) {
+                this.meta = m;
+                clearInterval(this._pollTimer);
+                this._pollTimer = undefined;
+            }
+            else if (++retries >= 20) {
+                clearInterval(this._pollTimer);
+                this._pollTimer = undefined;
+            }
+        }, 500);
+    }
+};
+__decorate([
+    state()
+], URDFJointsEditor.prototype, "meta", void 0);
+URDFJointsEditor = __decorate([
+    customElement('property-editor-urdf-joints')
+], URDFJointsEditor);
+export default URDFJointsEditor;
+//# sourceMappingURL=property-editor-urdf-joints.js.map

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

@@ -0,0 +1 @@
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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 @@
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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

@@ -1,2 +1,8 @@
-export { default as UrdfViewer } from './urdf-viewer.js';
-export { default as UrdfController } from './urdf-controller.js';
+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

@@ -1,3 +1,23 @@
-export { default as UrdfViewer } from './urdf-viewer.js';
-export { default as UrdfController } from './urdf-controller.js';
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF 플러그인 — things-scene의 RealObjectExternalModel 베이스를 상속받아
+ * URDF(Unified Robot Description Format) 로봇을 네이티브 3D 씬 오브젝트로
+ * 렌더링한다. @sceneComponent('urdf')로 등록되어 things-factory 보드에서
+ * 일반 컴포넌트처럼 사용 가능.
+ *
+ * 기본 loader는 STL/DAE/GLB를 지원하며, GLB는 things-scene의 RealObjectGLTF
+ * 캐시와 공유한다. xacro 전처리는 현재 미지원(ros-industrial 로봇 등은 사전
+ * 변환된 URDF 필요).
+ */
+// @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