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

package/dist/smoothing-controller.js

@@ -0,0 +1,88 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Level 1 관절 스무딩 — 스크립트된 애니메이션이 아닌 "타겟 추적 감쇠".
+ *
+ * 구현: critically damped 2차 spring-damper ODE.
+ *   acc   = error × ω²  -  2 × ω × vel
+ *   vel  += acc × dt
+ *   pos  += vel × dt
+ * 여기서 ω는 응답 주파수(rad/s). 기본 ω=10이면 시상수 ~0.1s 수준으로 빠르게
+ * 수렴하면서도 overshoot 없음 (ζ=1).
+ *
+ * 사용자가 state.joints를 바꾸면 setTargets로 새 목표가 전달되고, tick에서
+ * 매 프레임 current가 target으로 수렴한다. 바뀐 값은 joint.setJointValue로
+ * 직접 적용.
+ */
+import { registerJointController } from './joint-controller.js';
+export class SmoothingController {
+    _joints;
+    _current = new Map();
+    _target = new Map();
+    _velocity = new Map();
+    /** 응답 주파수 (rad/s). 클수록 빠른 수렴. */
+    omega = 10;
+    /** 수렴 판정 임계값. error와 velocity가 모두 이 값 미만이면 그 조인트는 skip. */
+    epsilon = 1e-5;
+    setup(ctx) {
+        this._joints = ctx.joints;
+        this._current.clear();
+        this._target.clear();
+        this._velocity.clear();
+        for (const [name, joint] of ctx.joints) {
+            const v = joint.angle ?? 0;
+            this._current.set(name, v);
+            this._target.set(name, v);
+            this._velocity.set(name, 0);
+        }
+    }
+    setTargets(targets) {
+        for (const [name, raw] of Object.entries(targets)) {
+            const v = typeof raw === 'number' ? raw : Number(raw?.value);
+            if (Number.isFinite(v)) {
+                this._target.set(name, v);
+            }
+        }
+    }
+    tick(dt) {
+        if (!this._joints)
+            return false;
+        // dt 보정: 0 이하거나 비정상적으로 크면 (탭 전환 후 복귀 등) 스킵/클램프
+        if (dt <= 0)
+            return false;
+        if (dt > 0.1)
+            dt = 0.016;
+        const w = this.omega;
+        const w2 = w * w;
+        const twoW = 2 * w;
+        const eps = this.epsilon;
+        let changed = false;
+        for (const [name, joint] of this._joints) {
+            if (joint.jointType === 'fixed')
+                continue;
+            const target = this._target.get(name) ?? 0;
+            const cur = this._current.get(name) ?? target;
+            const vel = this._velocity.get(name) ?? 0;
+            const error = target - cur;
+            if (Math.abs(error) < eps && Math.abs(vel) < eps)
+                continue;
+            const acc = error * w2 - twoW * vel;
+            const newVel = vel + acc * dt;
+            const newCur = cur + newVel * dt;
+            this._current.set(name, newCur);
+            this._velocity.set(name, newVel);
+            joint.setJointValue(newCur);
+            changed = true;
+        }
+        return changed;
+    }
+    dispose() {
+        this._joints = undefined;
+        this._current.clear();
+        this._target.clear();
+        this._velocity.clear();
+    }
+}
+// 기본 등록. 'smooth' 이름으로 state.physics에서 선택 가능.
+registerJointController('smooth', () => new SmoothingController());
+//# sourceMappingURL=smoothing-controller.js.map

package/dist/smoothing-controller.js.map

@@ -0,0 +1 @@
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All rights reserved.\n *\n * Level 1 관절 스무딩 — 스크립트된 애니메이션이 아닌 \"타겟 추적 감쇠\".\n *\n * 구현: critically damped 2차 spring-damper ODE.\n *   acc   = error × ω²  -  2 × ω × vel\n *   vel  += acc × dt\n *   pos  += vel × dt\n * 여기서 ω는 응답 주파수(rad/s). 기본 ω=10이면 시상수 ~0.1s 수준으로 빠르게\n * 수렴하면서도 overshoot 없음 (ζ=1).\n *\n * 사용자가 state.joints를 바꾸면 setTargets로 새 목표가 전달되고, tick에서\n * 매 프레임 current가 target으로 수렴한다. 바뀐 값은 joint.setJointValue로\n * 직접 적용.\n */\n\nimport type { URDFJoint } from 'urdf-loader'\nimport type { JointController, JointControllerContext } from './joint-controller.js'\nimport { registerJointController } from './joint-controller.js'\n\nexport class SmoothingController implements JointController {\n  private _joints?: Map<string, URDFJoint>\n  private _current = new Map<string, number>()\n  private _target = new Map<string, number>()\n  private _velocity = new Map<string, number>()\n\n  /** 응답 주파수 (rad/s). 클수록 빠른 수렴. */\n  omega: number = 10\n\n  /** 수렴 판정 임계값. error와 velocity가 모두 이 값 미만이면 그 조인트는 skip. */\n  epsilon: number = 1e-5\n\n  setup(ctx: JointControllerContext): void {\n    this._joints = ctx.joints\n    this._current.clear()\n    this._target.clear()\n    this._velocity.clear()\n\n    for (const [name, joint] of ctx.joints) {\n      const v = joint.angle ?? 0\n      this._current.set(name, v)\n      this._target.set(name, v)\n      this._velocity.set(name, 0)\n    }\n  }\n\n  setTargets(targets: Record<string, number>): void {\n    for (const [name, raw] of Object.entries(targets)) {\n      const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n      if (Number.isFinite(v)) {\n        this._target.set(name, v)\n      }\n    }\n  }\n\n  tick(dt: number): boolean {\n    if (!this._joints) return false\n    // dt 보정: 0 이하거나 비정상적으로 크면 (탭 전환 후 복귀 등) 스킵/클램프\n    if (dt <= 0) return false\n    if (dt > 0.1) dt = 0.016\n\n    const w = this.omega\n    const w2 = w * w\n    const twoW = 2 * w\n    const eps = this.epsilon\n    let changed = false\n\n    for (const [name, joint] of this._joints) {\n      if (joint.jointType === 'fixed') continue\n\n      const target = this._target.get(name) ?? 0\n      const cur = this._current.get(name) ?? target\n      const vel = this._velocity.get(name) ?? 0\n      const error = target - cur\n\n      if (Math.abs(error) < eps && Math.abs(vel) < eps) continue\n\n      const acc = error * w2 - twoW * vel\n      const newVel = vel + acc * dt\n      const newCur = cur + newVel * dt\n\n      this._current.set(name, newCur)\n      this._velocity.set(name, newVel)\n      joint.setJointValue(newCur)\n      changed = true\n    }\n\n    return changed\n  }\n\n  dispose(): void {\n    this._joints = undefined\n    this._current.clear()\n    this._target.clear()\n    this._velocity.clear()\n  }\n}\n\n// 기본 등록. 'smooth' 이름으로 state.physics에서 선택 가능.\nregisterJointController('smooth', () => new SmoothingController())\n"]}

package/dist/templates/index.d.ts

@@ -9,6 +9,9 @@ declare const _default: {
         top: number;
         width: number;
         height: number;
+        depth: number;
+        upAxis: string;
+        unitScale: number;
     };
 }[];
 export default _default;

package/dist/templates/index.js

@@ -1,4 +1,3 @@
-import URDFViewer from './urdf-viewer.js';
-import URDFController from './urdf-controller.js';
-export default [URDFViewer, URDFController];
+import urdf from './urdf.js';
+export default [urdf];
 //# sourceMappingURL=index.js.map

package/dist/templates/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/templates/index.ts"],"names":[],"mappings":"AAAA,OAAO,UAAU,MAAM,kBAAkB,CAAA;AACzC,OAAO,cAAc,MAAM,sBAAsB,CAAA;AAEjD,eAAe,CAAC,UAAU,EAAE,cAAc,CAAC,CAAA","sourcesContent":["import URDFViewer from './urdf-viewer.js'\nimport URDFController from './urdf-controller.js'\n\nexport default [URDFViewer, URDFController]\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/templates/index.ts"],"names":[],"mappings":"AAAA,OAAO,IAAI,MAAM,WAAW,CAAA;AAE5B,eAAe,CAAC,IAAI,CAAC,CAAA","sourcesContent":["import urdf from './urdf.js'\n\nexport default [urdf]\n"]}

package/dist/templates/{urdf-controller.d.ts → urdf.d.ts}

@@ -9,6 +9,9 @@ declare const _default: {
         top: number;
         width: number;
         height: number;
+        depth: number;
+        upAxis: string;
+        unitScale: number;
     };
 };
 export default _default;

package/dist/templates/urdf.js

@@ -0,0 +1,19 @@
+const icon = new URL('../../icons/urdf.png', import.meta.url).href;
+export default {
+    type: 'urdf',
+    description: 'urdf',
+    group: '3D',
+    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|3D|facility|storage|conveyance|transport|form|etc */
+    icon,
+    model: {
+        type: 'urdf',
+        left: 10,
+        top: 10,
+        width: 200,
+        height: 200,
+        depth: 200,
+        upAxis: 'z',
+        unitScale: 1000
+    }
+};
+//# sourceMappingURL=urdf.js.map

package/dist/templates/urdf.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"urdf.js","sourceRoot":"","sources":["../../src/templates/urdf.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,sBAAsB,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAElE,eAAe;IACb,IAAI,EAAE,MAAM;IACZ,WAAW,EAAE,MAAM;IACnB,KAAK,EAAE,IAAI;IACX,wHAAwH;IACxH,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;QACX,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;QACX,SAAS,EAAE,IAAI;KAChB;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf.png', import.meta.url).href\n\nexport default {\n  type: 'urdf',\n  description: 'urdf',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|3D|facility|storage|conveyance|transport|form|etc */\n  icon,\n  model: {\n    type: 'urdf',\n    left: 10,\n    top: 10,\n    width: 200,\n    height: 200,\n    depth: 200,\n    upAxis: 'z',\n    unitScale: 1000\n  }\n}\n"]}

package/dist/urdf-object.d.ts

@@ -0,0 +1,502 @@
+import { Shape, type ComponentNature, type IRealObject } from '@hatiolab/things-scene';
+import type { URDFJointState, URDFJointMeta } from './real-object-urdf.js';
+declare const URDFObject_base: (new (...args: any[]) => {
+    _topViewSnapshot?: HTMLCanvasElement;
+    _ratioLocking: boolean;
+    is3dish(): boolean;
+    get hasTextProperty(): boolean;
+    get controls(): never[];
+    render(ctx: CanvasRenderingContext2D): void;
+    ready(): Promise<void>;
+    onchange(after: Record<string, any>, before: Record<string, any>): void;
+    _ensureTopViewSnapshot(): void;
+    buildRealObject(): IRealObject | undefined;
+    get source(): string | undefined;
+    set source(v: string | undefined): any;
+    get play(): boolean;
+    set play(value: boolean): any;
+    get nodes(): Record<string, import("@hatiolab/things-scene").GLTFNodeState> | undefined;
+    set nodes(value: Record<string, import("@hatiolab/things-scene").GLTFNodeState> | undefined): any;
+    get animations(): Record<string, import("@hatiolab/things-scene").GLTFAnimationState> | undefined;
+    set animations(value: Record<string, import("@hatiolab/things-scene").GLTFAnimationState> | undefined): any;
+    get playTargets(): string[] | string | undefined;
+    set playTargets(value: string[] | string | undefined): any;
+    get fillStyleTargets(): string[] | undefined;
+    set fillStyleTargets(value: string[] | undefined): any;
+    get nodeNames(): string[];
+    get animationNames(): string[];
+    set dimension(dimension: {
+        width: number;
+        height: number;
+        depth: number;
+    }): any;
+    _applyRatioLock(props: any): any;
+    set(props: any, propval?: any): any;
+    setState(props: any, propval?: any): any;
+    _app: any;
+    _model: any;
+    _state: any;
+    _delta: any;
+    _animation: any;
+    _animate: any;
+    _parent: any;
+    _disposed: any;
+    _textHidden: any;
+    _text_substitutor: any;
+    _value_substitutor: any;
+    _mappings: any;
+    _realObject: IRealObject | undefined;
+    _cachedState: any;
+    updatedAt: any;
+    fontSize: any;
+    __cache__: any;
+    created(): void;
+    added(parent: any): void;
+    removed(parent: any): void;
+    touch(): void;
+    clearCache(...attrs: any[]): void;
+    removeSelf(completely: any): void;
+    resetAnimation(): void;
+    dispose(): void;
+    get nature(): ComponentNature;
+    get disposed(): boolean;
+    isLayer(): boolean;
+    isGroup(): boolean;
+    isContainer(): this is import("@hatiolab/things-scene/dist-types/types/component.js").Container;
+    isLine(): boolean;
+    isRoot(): boolean;
+    isRootModel(): boolean;
+    get is3dMode(): boolean;
+    isIn3DSpace(): boolean;
+    isTemplate(): boolean;
+    isHTMLElement(): boolean;
+    isConnectable(): boolean;
+    isIdentifiable(): boolean;
+    isPositionable(): boolean;
+    replaceRefids(replaceMap: any): void;
+    get(property: any): any;
+    getState(property: any): any;
+    get model(): any;
+    get state(): any;
+    get hierarchy(): any;
+    get volatile(): never[];
+    _applyProps(target: any, props: any, options: any): any;
+    contains(x: number, y: number): boolean;
+    move(offset: {
+        x: number;
+        y: number;
+    }, ...args: boolean[]): void;
+    symmetryX(x?: number): void;
+    symmetryY(y: number): void;
+    adjustResize(bounds: import("@hatiolab/things-scene").BOUNDS, origin_bounds: import("@hatiolab/things-scene").BOUNDS, diagonal: boolean): {
+        left: any;
+        top: any;
+        width: any;
+        height: any;
+    };
+    adjustRotation(rotation: number, step: boolean): number;
+    outline(progress: number): any;
+    get bounds(): import("@hatiolab/things-scene").BOUNDS;
+    set bounds(b: import("@hatiolab/things-scene").BOUNDS): any;
+    get center(): import("@hatiolab/things-scene").POINT;
+    set center(p: import("@hatiolab/things-scene").POINT): any;
+    get location(): import("@hatiolab/things-scene").POINT;
+    set location(l: import("@hatiolab/things-scene").POINT): any;
+    get rotate(): import("@hatiolab/things-scene").POINT;
+    set rotate(r: import("@hatiolab/things-scene").POINT): any;
+    get path(): import("@hatiolab/things-scene").POINT[];
+    set path(p: import("@hatiolab/things-scene").POINT[]): any;
+    get drawPath(): import("@hatiolab/things-scene").POINT[];
+    get rotatePoint(): import("@hatiolab/things-scene").POINT;
+    get mutable(): boolean;
+    get resizable(): boolean;
+    get rotatable(): boolean;
+    get realObject(): IRealObject | undefined;
+    draw(context?: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prerender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    postrender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepare(resolve: (component: import("@hatiolab/things-scene").Component) => void, reject: (reason: any) => void): void;
+    prepareIf(condition: boolean): void;
+    drawText(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    drawStroke(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    drawFill(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    get strokeStyle(): any;
+    set strokeStyle(v: any): any;
+    get fillStyle(): any;
+    set fillStyle(v: any): any;
+    get fontColor(): string;
+    set fontColor(v: string): any;
+    get rotation(): number;
+    set rotation(v: number): any;
+    get decorators(): string[];
+    get decotag(): string;
+    get hidden(): boolean;
+    set hidden(v: boolean): any;
+    get tag(): string;
+    set tag(v: string): any;
+    get appendum(): any;
+    set appendum(v: any): any;
+    defaultTextSubstitutor(): string;
+    textLines(context?: import("@hatiolab/things-scene").SceneRenderContext): any[][];
+    get font(): string;
+    get lineHeight(): number;
+    get textSubstitutor(): () => string;
+    get text(): string;
+    set text(v: string): any;
+    get textBounds(): import("@hatiolab/things-scene").BOUNDS;
+    get textRotation(): number;
+    get textHidden(): boolean;
+    set textHidden(v: boolean): any;
+    animate(opts: import("@hatiolab/things-scene").AnimationConfig): any;
+    effect(context: import("@hatiolab/things-scene").SceneRenderContext, model: any): void;
+    serialize(...others: any[]): string;
+    trim(): void;
+    closeScene(data: any): void;
+    delta(attr?: string | object, value?: any): any;
+    invalidate(): void;
+    get value(): any;
+    set value(v: any): any;
+    get data(): any;
+    set data(v: any): any;
+    set tap(v: any): any;
+    get mappings(): any[];
+    get retention(): number;
+    get animation(): import("@hatiolab/things-scene").AnimationController | undefined;
+    get started(): boolean;
+    set started(v: boolean): any;
+    findFirst(finder: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): import("@hatiolab/things-scene").Component | undefined;
+    findAll(s: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): any[] | undefined;
+    capture(x: number, y: number, except?: (c: import("@hatiolab/things-scene").Component) => boolean): any;
+    findAnchor(name: string): any;
+    isDescendible(container: import("@hatiolab/things-scene").Component): boolean;
+    getContext(component?: unknown): any;
+    get root(): import("@hatiolab/things-scene").Component;
+    get rootModel(): import("@hatiolab/things-scene").Component;
+    get parent(): import("@hatiolab/things-scene").Component;
+    set parent(v: import("@hatiolab/things-scene").Component): any;
+    get anchors(): import("@hatiolab/things-scene").Anchor[];
+    get scalable(): boolean;
+    get stuck(): boolean;
+    get capturable(): boolean;
+    get position(): string;
+    get origin(): string;
+    get offset(): import("@hatiolab/things-scene").POINT;
+    get app(): import("@hatiolab/things-scene").ApplicationContext;
+    drawEffect(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepareFill(resolve: Function, reject: Function): void;
+    prepareFillIf(condition: boolean): void;
+    onchangeFill(after: Record<string, any>, before: Record<string, any>): void;
+    drawImage(context: import("@hatiolab/things-scene").SceneRenderContext, image: HTMLImageElement, left: number, top: number, width: number, height: number): void;
+    mutateBounds(logic: ((bounds: import("@hatiolab/things-scene").BOUNDS) => import("@hatiolab/things-scene").BOUNDS | void) | null, context?: any): void;
+    mutatePath(beforeLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, afterLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, context?: any): void;
+    access(accessor: string): any;
+    substitute(template: string, data: any): string | undefined;
+    onchangeMappings(after: Record<string, any>, before: Record<string, any>): void;
+    onchangeData(after: Record<string, any>, before: Record<string, any>): void;
+    buildMappings(): void;
+    executeMappings(force?: boolean): void;
+    disposeMappings(): void;
+    ondropfile(transfered: FileList, files: string[]): void;
+    transcoordS2P(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordP2S(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordS2T(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2P(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2TR(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2O(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordC2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2C(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    fromParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    toScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    fromScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toLocal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toGlobal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toOther(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    on(name: string | object, callback: Function, context?: any): any;
+    off(name?: string | object, callback?: Function, context?: any): any;
+    once(name: string | object, callback: Function, context?: any): any;
+    trigger(name: string, ...args: any[]): any;
+    delegate_on(delegator: any): any;
+    delegate_off(delegator: any): any;
+    calculateBounds?(): void;
+    oncreate_element?(element: HTMLElement): void;
+    removeComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    addComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    insertComponentAt(component: import("@hatiolab/things-scene").Component, index: number, ghost?: boolean): void;
+    getOverlay(component: import("@hatiolab/things-scene").Component): HTMLElement | undefined;
+    findById(id: string): import("@hatiolab/things-scene").Component | undefined;
+    findByRefid(ref: string | number): import("@hatiolab/things-scene").Component | undefined;
+    findAllById(id: string): import("@hatiolab/things-scene").Component[];
+    resize(): void;
+    fit(type?: string): void;
+    get components(): import("@hatiolab/things-scene").Component[] | undefined;
+    get layout(): any;
+    get auxOverlay(): HTMLElement | undefined;
+    get isReady(): boolean;
+    get unitScale(): number;
+    get selected(): import("@hatiolab/things-scene").Component[];
+    set selected(_v: import("@hatiolab/things-scene").Component[]): any;
+    get focused(): import("@hatiolab/things-scene").Component | null;
+    set focused(_v: import("@hatiolab/things-scene").Component | null): any;
+    get hasSameParentForAllSelected(): boolean;
+    set hasSameParentForAllSelected(_v: boolean): any;
+    get fitMode(): string | undefined;
+    set fitMode(_v: string | undefined): any;
+    get element(): HTMLElement | null;
+    set element(_v: HTMLElement | null): any;
+}) & (new (...args: any[]) => {
+    contains(x: number, y: number): boolean;
+    get path(): {
+        x: any;
+        y: any;
+    }[];
+    set path(path: {
+        x: any;
+        y: any;
+    }[]): any;
+    get anchors(): {
+        name: string;
+        position: {
+            x: any;
+            y: any;
+        };
+    }[];
+    get bounds(): any;
+    set bounds(bounds: any): any;
+    render(ctx: CanvasRenderingContext2D): void;
+    _app: any;
+    _model: any;
+    _state: any;
+    _delta: any;
+    _animation: any;
+    _animate: any;
+    _parent: any;
+    _disposed: any;
+    _textHidden: any;
+    _text_substitutor: any;
+    _value_substitutor: any;
+    _mappings: any;
+    _realObject: import("@hatiolab/things-scene").IRealObject | undefined;
+    _cachedState: any;
+    updatedAt: any;
+    fontSize: any;
+    __cache__: any;
+    created(): void;
+    added(parent: any): void;
+    removed(parent: any): void;
+    ready(): Promise<void>;
+    touch(): void;
+    clearCache(...attrs: any[]): void;
+    removeSelf(completely: any): void;
+    resetAnimation(): void;
+    dispose(): void;
+    get nature(): import("@hatiolab/things-scene").ComponentNature;
+    get disposed(): boolean;
+    isLayer(): boolean;
+    isGroup(): boolean;
+    isContainer(): this is import("@hatiolab/things-scene/dist-types/types/component.js").Container;
+    isLine(): boolean;
+    isRoot(): boolean;
+    isRootModel(): boolean;
+    is3dish(): boolean;
+    get is3dMode(): boolean;
+    isIn3DSpace(): boolean;
+    isTemplate(): boolean;
+    isHTMLElement(): boolean;
+    isConnectable(): boolean;
+    isIdentifiable(): boolean;
+    isPositionable(): boolean;
+    replaceRefids(replaceMap: any): void;
+    get(property: any): any;
+    set(props: any, propval?: any): any;
+    getState(property: any): any;
+    setState(props: any, propval?: any): any;
+    get model(): any;
+    get state(): any;
+    get hierarchy(): any;
+    get volatile(): never[];
+    _applyProps(target: any, props: any, options: any): any;
+    move(offset: {
+        x: number;
+        y: number;
+    }, ...args: boolean[]): void;
+    symmetryX(x?: number): void;
+    symmetryY(y: number): void;
+    adjustResize(bounds: import("@hatiolab/things-scene").BOUNDS, origin_bounds: import("@hatiolab/things-scene").BOUNDS, diagonal: boolean): {
+        left: any;
+        top: any;
+        width: any;
+        height: any;
+    };
+    adjustRotation(rotation: number, step: boolean): number;
+    outline(progress: number): any;
+    get center(): import("@hatiolab/things-scene").POINT;
+    set center(p: import("@hatiolab/things-scene").POINT): any;
+    get location(): import("@hatiolab/things-scene").POINT;
+    set location(l: import("@hatiolab/things-scene").POINT): any;
+    get rotate(): import("@hatiolab/things-scene").POINT;
+    set rotate(r: import("@hatiolab/things-scene").POINT): any;
+    get dimension(): import("@hatiolab/things-scene").DIMENSION;
+    set dimension(d: import("@hatiolab/things-scene").DIMENSION): any;
+    get drawPath(): import("@hatiolab/things-scene").POINT[];
+    get rotatePoint(): import("@hatiolab/things-scene").POINT;
+    get mutable(): boolean;
+    get resizable(): boolean;
+    get rotatable(): boolean;
+    buildRealObject(): import("@hatiolab/things-scene").IRealObject | undefined;
+    get realObject(): import("@hatiolab/things-scene").IRealObject | undefined;
+    draw(context?: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prerender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    postrender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepare(resolve: (component: import("@hatiolab/things-scene").Component) => void, reject: (reason: any) => void): void;
+    prepareIf(condition: boolean): void;
+    drawText(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    drawStroke(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    drawFill(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    get strokeStyle(): any;
+    set strokeStyle(v: any): any;
+    get fillStyle(): any;
+    set fillStyle(v: any): any;
+    get fontColor(): string;
+    set fontColor(v: string): any;
+    get rotation(): number;
+    set rotation(v: number): any;
+    get decorators(): string[];
+    get decotag(): string;
+    get hidden(): boolean;
+    set hidden(v: boolean): any;
+    get tag(): string;
+    set tag(v: string): any;
+    get appendum(): any;
+    set appendum(v: any): any;
+    defaultTextSubstitutor(): string;
+    textLines(context?: import("@hatiolab/things-scene").SceneRenderContext): any[][];
+    get font(): string;
+    get lineHeight(): number;
+    get textSubstitutor(): () => string;
+    get text(): string;
+    set text(v: string): any;
+    get textBounds(): import("@hatiolab/things-scene").BOUNDS;
+    get textRotation(): number;
+    get textHidden(): boolean;
+    set textHidden(v: boolean): any;
+    get hasTextProperty(): boolean;
+    animate(opts: import("@hatiolab/things-scene").AnimationConfig): any;
+    effect(context: import("@hatiolab/things-scene").SceneRenderContext, model: any): void;
+    serialize(...others: any[]): string;
+    trim(): void;
+    closeScene(data: any): void;
+    delta(attr?: string | object, value?: any): any;
+    invalidate(): void;
+    get value(): any;
+    set value(v: any): any;
+    get data(): any;
+    set data(v: any): any;
+    set tap(v: any): any;
+    get mappings(): any[];
+    get retention(): number;
+    get animation(): import("@hatiolab/things-scene").AnimationController | undefined;
+    get started(): boolean;
+    set started(v: boolean): any;
+    get controls(): import("@hatiolab/things-scene").Control[] | undefined;
+    findFirst(finder: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): import("@hatiolab/things-scene").Component | undefined;
+    findAll(s: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): any[] | undefined;
+    capture(x: number, y: number, except?: (c: import("@hatiolab/things-scene").Component) => boolean): any;
+    findAnchor(name: string): any;
+    isDescendible(container: import("@hatiolab/things-scene").Component): boolean;
+    getContext(component?: unknown): any;
+    get root(): import("@hatiolab/things-scene").Component;
+    get rootModel(): import("@hatiolab/things-scene").Component;
+    get parent(): import("@hatiolab/things-scene").Component;
+    set parent(v: import("@hatiolab/things-scene").Component): any;
+    get scalable(): boolean;
+    get stuck(): boolean;
+    get capturable(): boolean;
+    get position(): string;
+    get origin(): string;
+    get offset(): import("@hatiolab/things-scene").POINT;
+    get app(): import("@hatiolab/things-scene").ApplicationContext;
+    drawEffect(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepareFill(resolve: Function, reject: Function): void;
+    prepareFillIf(condition: boolean): void;
+    onchangeFill(after: Record<string, any>, before: Record<string, any>): void;
+    drawImage(context: import("@hatiolab/things-scene").SceneRenderContext, image: HTMLImageElement, left: number, top: number, width: number, height: number): void;
+    mutateBounds(logic: ((bounds: import("@hatiolab/things-scene").BOUNDS) => import("@hatiolab/things-scene").BOUNDS | void) | null, context?: any): void;
+    mutatePath(beforeLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, afterLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, context?: any): void;
+    access(accessor: string): any;
+    substitute(template: string, data: any): string | undefined;
+    onchangeMappings(after: Record<string, any>, before: Record<string, any>): void;
+    onchangeData(after: Record<string, any>, before: Record<string, any>): void;
+    buildMappings(): void;
+    executeMappings(force?: boolean): void;
+    disposeMappings(): void;
+    ondropfile(transfered: FileList, files: string[]): void;
+    transcoordS2P(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordP2S(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordS2T(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2P(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2TR(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2O(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordC2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2C(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    fromParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    toScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    fromScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toLocal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toGlobal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toOther(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    on(name: string | object, callback: Function, context?: any): any;
+    off(name?: string | object, callback?: Function, context?: any): any;
+    once(name: string | object, callback: Function, context?: any): any;
+    trigger(name: string, ...args: any[]): any;
+    delegate_on(delegator: any): any;
+    delegate_off(delegator: any): any;
+    onchange(after: Record<string, any>, before: Record<string, any>): void;
+    calculateBounds?(): void;
+    oncreate_element?(element: HTMLElement): void;
+    removeComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    addComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    insertComponentAt(component: import("@hatiolab/things-scene").Component, index: number, ghost?: boolean): void;
+    getOverlay(component: import("@hatiolab/things-scene").Component): HTMLElement | undefined;
+    findById(id: string): import("@hatiolab/things-scene").Component | undefined;
+    findByRefid(ref: string | number): import("@hatiolab/things-scene").Component | undefined;
+    findAllById(id: string): import("@hatiolab/things-scene").Component[];
+    resize(): void;
+    fit(type?: string): void;
+    get components(): import("@hatiolab/things-scene").Component[] | undefined;
+    get layout(): any;
+    get auxOverlay(): HTMLElement | undefined;
+    get isReady(): boolean;
+    get unitScale(): number;
+    get selected(): import("@hatiolab/things-scene").Component[];
+    set selected(_v: import("@hatiolab/things-scene").Component[]): any;
+    get focused(): import("@hatiolab/things-scene").Component | null;
+    set focused(_v: import("@hatiolab/things-scene").Component | null): any;
+    get hasSameParentForAllSelected(): boolean;
+    set hasSameParentForAllSelected(_v: boolean): any;
+    get fitMode(): string | undefined;
+    set fitMode(_v: string | undefined): any;
+    get element(): HTMLElement | null;
+    set element(_v: HTMLElement | null): any;
+}) & typeof Shape;
+export declare class URDFObject extends URDFObject_base {
+    /**
+     * URDF 캐시 hit 만 처리. miss 시는 RealObjectURDF.\_onLoaded 가
+     * 캐시를 채우고 component.\_topViewSnapshot 을 직접 세팅한다 (URDF
+     * 로더는 GLB 로더와 다르므로 mixin 의 디폴트 — RealObjectGLTF.loadGLTF
+     * 직접 호출 — 을 쓸 수 없다).
+     */
+    _ensureTopViewSnapshot(): void;
+    buildRealObject(): IRealObject | undefined;
+    get nature(): ComponentNature;
+    /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */
+    get joints(): Record<string, URDFJointState | number> | undefined;
+    set joints(value: Record<string, URDFJointState | number> | undefined);
+    /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */
+    get jointMeta(): URDFJointMeta[];
+    get jointNames(): string[];
+}
+export {};