@operato/scene-urdf 10.0.0-beta.24 → 10.0.0-beta.31

package/dist/joint-controller.d.ts

@@ -17,7 +17,7 @@ export interface JointController {
      */
     setTargets(targets: Record<string, number>): void;
     /**
-     * 매 프레임 호출 (requestAnimationFrame). dt는 초 단위.
+     * 매 프레임 호출 (things-scene `frameClock` 'real' 구독). dt는 초 단위.
      * 관절에 값을 적용(joint.setJointValue)하고, 값이 실제로 변경됐다면 true를
      * 반환 (상위가 invalidate를 결정).
      */

package/dist/joint-controller.js.map

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

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

@@ -2,6 +2,7 @@ import * as THREE from 'three';
 import type { URDFRobot } from 'urdf-loader';
 import type { Properties } from '@hatiolab/things-scene';
 import { RealObjectExternalModel } from '@hatiolab/things-scene';
+import type { URDFObject } from './urdf-object.js';
 export interface URDFJointState {
     /** revolute/continuous: 라디안. prismatic: 거리(URDF 단위). */
     value?: number;
@@ -22,6 +23,7 @@ export interface URDFJointMeta {
     };
 }
 export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
+    get component(): URDFObject;
     protected get _formatLabel(): string;
     protected get _placeholderColor(): number;
     private static _urdfCache;
@@ -47,11 +49,9 @@ export declare class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {
     private _jointIndex;
     private _jointMeta;
     private _jointOriginals;
-    private _animRaf?;
-    private _animStartTime;
+    private _animUnsub;
     private _controller?;
-    private _ctrlRaf?;
-    private _ctrlLastTime;
+    private _ctrlUnsub;
     get robot(): URDFRobot | undefined;
     /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */
     get jointMeta(): URDFJointMeta[];

package/dist/real-object-urdf.js

@@ -15,12 +15,15 @@ import * as THREE from 'three';
 import URDFLoader from 'urdf-loader';
 import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js';
 import { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js';
-import { warn } from '@hatiolab/things-scene';
+import { warn, frameClock } from '@hatiolab/things-scene';
 import { RealObjectExternalModel } from '@hatiolab/things-scene';
 import { RealObjectGLTF } from '@hatiolab/things-scene';
 import { createJointController } from './joint-controller.js';
 const X_NEG_PI_HALF = -Math.PI / 2;
 export class RealObjectURDF extends RealObjectExternalModel {
+    get component() {
+        return super.component;
+    }
     get _formatLabel() { return 'urdf'; }
     get _placeholderColor() { return 0x1976d2; }
     // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.
@@ -131,12 +134,10 @@ export class RealObjectURDF extends RealObjectExternalModel {
     // 원본 조인트 값 — reset을 위해 보존
     _jointOriginals = new Map();
     // 자동 애니메이션 (sine 모드) 상태
-    _animRaf;
-    _animStartTime = 0;
+    _animUnsub = null;
     // Joint controller (physics mode) 상태
     _controller;
-    _ctrlRaf;
-    _ctrlLastTime = 0;
+    _ctrlUnsub = null;
     get robot() {
         return this._robot;
     }
@@ -247,7 +248,6 @@ export class RealObjectURDF extends RealObjectExternalModel {
             }
         }
         else if (source) {
-            ;
             this.component._topViewSnapshot = RealObjectURDF._topViewCache.get(source);
         }
     }
@@ -324,27 +324,25 @@ export class RealObjectURDF extends RealObjectExternalModel {
             }
             ctrl.setTargets(targets);
         }
-        this._ctrlLastTime = performance.now();
-        const tick = () => {
+        // Joint physics ticks every frame so manual joint manipulation stays responsive.
+        // dt is in ms — convert to seconds to match the JointController contract.
+        this._ctrlUnsub = frameClock.subscribe((dt) => {
             if (!this._controller) {
-                this._ctrlRaf = undefined;
+                this._ctrlUnsub?.();
+                this._ctrlUnsub = null;
                 return;
             }
-            const now = performance.now();
-            const dt = (now - this._ctrlLastTime) / 1000;
-            this._ctrlLastTime = now;
-            const changed = this._controller.tick(dt);
+            const dtSec = dt / 1000;
+            const changed = this._controller.tick(dtSec);
             if (changed) {
                 this.component?.invalidate?.();
             }
-            this._ctrlRaf = requestAnimationFrame(tick);
-        };
-        this._ctrlRaf = requestAnimationFrame(tick);
+        }, { description: 'URDF joint physics', component: this.component });
     }
     _disposeController() {
-        if (this._ctrlRaf != null) {
-            cancelAnimationFrame(this._ctrlRaf);
-            this._ctrlRaf = undefined;
+        if (this._ctrlUnsub) {
+            this._ctrlUnsub();
+            this._ctrlUnsub = null;
         }
         if (this._controller) {
             this._controller.dispose();
@@ -387,18 +385,24 @@ export class RealObjectURDF extends RealObjectExternalModel {
      * 분리되어 표시됨 (활성 시 state는 의미 없음).
      */
     _startAutoAnimate() {
-        if (this._animRaf != null)
+        if (this._animUnsub)
             return;
         if (!this._robot || this._jointMeta.size === 0)
             return;
-        this._animStartTime = performance.now();
         const TWO_PI = Math.PI * 2;
-        const tick = () => {
+        let startTime;
+        // Sine animation is a visual demo / UX feature.
+        // `time` arg is sim-clock ms since the FrameClock booted; capture the first
+        // sample as t0 to get elapsed seconds.
+        this._animUnsub = frameClock.subscribe((_dt, time) => {
             if (!this._robot) {
-                this._animRaf = undefined;
+                this._animUnsub?.();
+                this._animUnsub = null;
                 return;
             }
-            const t = (performance.now() - this._animStartTime) / 1000;
+            if (startTime === undefined)
+                startTime = time;
+            const t = (time - startTime) / 1000;
             let i = 0;
             let changed = false;
             for (const [name, meta] of this._jointMeta) {
@@ -418,14 +422,12 @@ export class RealObjectURDF extends RealObjectExternalModel {
             if (changed) {
                 this.component?.invalidate?.();
             }
-            this._animRaf = requestAnimationFrame(tick);
-        };
-        this._animRaf = requestAnimationFrame(tick);
+        }, { description: 'URDF sine demo', component: this.component });
     }
     _stopAutoAnimate() {
-        if (this._animRaf != null) {
-            cancelAnimationFrame(this._animRaf);
-            this._animRaf = undefined;
+        if (this._animUnsub) {
+            this._animUnsub();
+            this._animUnsub = null;
         }
     }
     /**
@@ -481,7 +483,7 @@ export class RealObjectURDF extends RealObjectExternalModel {
         if ('joints' in after) {
             // 사용자가 joint를 직접 조작하면 자동 애니메이션이 이를 즉시 덮어써
             // 의도를 상쇄하므로, 자동 애니메이션을 우선 중지한다.
-            if (this._animRaf != null) {
+            if (this._animUnsub) {
                 this._stopAutoAnimate();
                 this._component.setState({ autoAnimate: 'none' });
             }

package/dist/real-object-urdf.js.map

@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF (Unified Robot Description Format) 지원 RealObject.\n * RealObjectGLTF와 동일한 캐시/레이스/placeholder 패턴을 따른다.\n *\n * 차이점: GLTF는 노드/애니메이션이 주된 바인딩 대상이지만, URDF는 \"joint\"가\n * 1급 시민이다. state.joints에 이름→라디안(또는 prismatic의 경우 거리) 맵을\n * 두어 외부 센서값 등을 연결할 수 있도록 한다.\n *\n * 좌표계: URDF는 Z-up, things-scene의 3D는 Y-up. 로드 후 루트 그룹에 1회만\n * -PI/2 X축 회전을 적용하여 변환한다. 내부 조인트 축은 원본 그대로 유지.\n */\n\nimport * as THREE from 'three'\nimport URDFLoader from 'urdf-loader'\nimport type { URDFRobot, URDFJoint } from 'urdf-loader'\nimport { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'\nimport { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js'\n\nimport { warn } from '@hatiolab/things-scene'\nimport type { Properties } from '@hatiolab/things-scene'\n\nimport { RealObjectExternalModel } from '@hatiolab/things-scene'\nimport { RealObjectGLTF } from '@hatiolab/things-scene'\n\nimport { createJointController, type JointController } from './joint-controller.js'\n\nexport interface URDFJointState {\n  /** revolute/continuous: 라디안. prismatic: 거리(URDF 단위). */\n  value?: number\n}\n\nexport interface URDFJointMeta {\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 X_NEG_PI_HALF = -Math.PI / 2\n\nexport class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {\n  protected get _formatLabel() { return 'urdf' }\n  protected get _placeholderColor() { return 0x1976d2 }\n  // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.\n  private static _urdfCache = new Map<string, Promise<URDFRobot>>()\n\n  // 탑뷰 스냅샷 캐시 (2D 렌더 폴백)\n  private static _topViewCache = new Map<string, HTMLCanvasElement>()\n\n  /**\n   * URDF를 로드한다 (동일 URL 캐시).\n   * mesh 로더는 STL/DAE(내장) + OBJ(MTL 연동) + GLB(확장)를 지원한다.\n   *\n   * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는\n   * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된\n   * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의\n   * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.\n   *\n   * `packages` 옵션을 통해 ROS `package://<pkg>/<rel>` prefix 해석을 설정할 수\n   * 있다 (예: `{ a1_description: 'https://.../robots/a1_description' }`).\n   */\n  static loadURDF(url: string, packages?: Record<string, string>): Promise<URDFRobot> {\n    // 동일 URL이라도 packages 설정이 다르면 다른 캐시 엔트리.\n    const cacheKey = packages && Object.keys(packages).length > 0\n      ? `${url}|${JSON.stringify(packages)}`\n      : url\n    let cached = RealObjectURDF._urdfCache.get(cacheKey)\n    if (!cached) {\n      cached = new Promise<URDFRobot>((resolve, reject) => {\n        const manager = new THREE.LoadingManager()\n        const loader = new URDFLoader(manager)\n        if (packages) {\n          loader.packages = packages\n        }\n\n        loader.loadMeshCb = ((path: string, mgr: THREE.LoadingManager, done: (mesh: any, err?: Error) => void) => {\n          if (/\\.(glb|gltf)$/i.test(path)) {\n            // GLB는 별도 시스템 — manager 추적에서 벗어나므로 명시적으로 track.\n            mgr.itemStart(path)\n            RealObjectGLTF.loadGLTF(path).then(\n              gltf => { done(gltf.scene.clone()); mgr.itemEnd(path) },\n              err => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n            )\n          } else if (/\\.obj$/i.test(path)) {\n            // OBJ는 urdf-loader 내장 defaultMeshLoader가 지원하지 않음.\n            // 연관된 .mtl(재질) 파일이 있으면 MTLLoader로 먼저 로드하여 색상/텍스처\n            // 적용, 없으면 OBJLoader만 폴백.\n            //\n            // LoadingManager 정합성: 외부 path로만 itemStart/itemEnd를 1회씩\n            // 기록한다. 내부 MTLLoader/OBJLoader는 manager 주입 없이 생성하여\n            // 서브-아이템으로 카운트되지 않게 함 — 그렇지 않으면 MTL 404 직후\n            // 일시적으로 pending=0이 되어 manager.onLoad가 조기 발화하고\n            // 최종 로봇이 빈 상태로 resolve되는 레이스가 발생.\n            mgr.itemStart(path)\n            const finishOk = (mesh: any) => { done(mesh); mgr.itemEnd(path) }\n            const finishErr = (err: Error) => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n\n            const lastSlash = path.lastIndexOf('/')\n            const baseUrl = lastSlash >= 0 ? path.substring(0, lastSlash + 1) : ''\n            const mtlName = path.substring(lastSlash + 1).replace(/\\.obj$/i, '.mtl')\n\n            const loadObjOnly = () => {\n              new OBJLoader().load(\n                path,\n                group => finishOk(group),\n                undefined,\n                err => finishErr(err as Error)\n              )\n            }\n            new MTLLoader().setResourcePath(baseUrl).setPath(baseUrl).load(\n              mtlName,\n              materials => {\n                materials.preload()\n                new OBJLoader().setMaterials(materials).load(\n                  path,\n                  group => finishOk(group),\n                  undefined,\n                  err => finishErr(err as Error)\n                )\n              },\n              undefined,\n              () => {\n                // MTL 로드 실패 시 OBJ만 로드 (정상 시나리오 — MTL 없는 OBJ도 있음)\n                loadObjOnly()\n              }\n            )\n          } else {\n            // STL/DAE는 urdf-loader 내장 디폴트로 폴백 (manager 자동 추적)\n            ;(loader as any).defaultMeshLoader(path, mgr, done)\n          }\n        }) as any\n\n        let robotResult: URDFRobot | undefined\n\n        manager.onLoad = () => {\n          if (robotResult) resolve(robotResult)\n          else reject(new Error('URDF load completed but no robot result'))\n        }\n        manager.onError = (failedUrl: string) => {\n          // 개별 에러는 로그로만 남김 — 전체 로드는 그래도 완료되도록\n          // (일부 mesh 실패 시 나머지라도 보이게)\n          warn('URDFLoader: resource load error', failedUrl)\n        }\n\n        loader.load(\n          url,\n          robot => { robotResult = robot },\n          undefined,\n          err => reject(err)\n        )\n      }).catch(err => {\n        RealObjectURDF._urdfCache.delete(cacheKey)\n        throw err\n      })\n      RealObjectURDF._urdfCache.set(cacheKey, cached)\n    }\n    return cached\n  }\n\n  /** 모든 캐시 비움 (보드 전환 시 호출) */\n  static flushCache() {\n    RealObjectURDF._urdfCache.clear()\n    RealObjectURDF._topViewCache.clear()\n  }\n\n  static getTopViewCache(source: string): HTMLCanvasElement | undefined {\n    return RealObjectURDF._topViewCache.get(source)\n  }\n\n  static setTopViewCache(source: string, canvas: HTMLCanvasElement) {\n    RealObjectURDF._topViewCache.set(source, canvas)\n  }\n\n  // --- 인스턴스 상태 ---\n\n  private _robot?: URDFRobot\n\n  // 조인트 인덱스 + 메타 (로드 후 외부에서 구독 가능)\n  private _jointIndex = new Map<string, URDFJoint>()\n  private _jointMeta = new Map<string, URDFJointMeta>()\n\n  // 원본 조인트 값 — reset을 위해 보존\n  private _jointOriginals = new Map<string, number>()\n\n  // 자동 애니메이션 (sine 모드) 상태\n  private _animRaf?: number\n  private _animStartTime = 0\n\n  // Joint controller (physics mode) 상태\n  private _controller?: JointController\n  private _ctrlRaf?: number\n  private _ctrlLastTime = 0\n\n  get robot(): URDFRobot | undefined {\n    return this._robot\n  }\n\n  /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */\n  get jointMeta(): URDFJointMeta[] {\n    return Array.from(this._jointMeta.values())\n  }\n\n  get jointNames(): string[] {\n    return Array.from(this._jointIndex.keys())\n  }\n\n  protected _loadExternal(url: string): Promise<URDFRobot> {\n    const packages = this.component.state.packages as Record<string, string> | undefined\n    return RealObjectURDF.loadURDF(url, packages)\n  }\n\n  protected _onLoaded(robot: URDFRobot) {\n    if (this.component.state.loadError) {\n      this.component.setState({ loadError: undefined })\n    }\n\n    // 캐시의 robot은 공유 참조이므로 clone하여 독립 인스턴스 구성.\n    // urdf-loader의 URDFRobot는 Object3D를 상속하므로 Object3D.clone()이 안전하게 동작.\n    const cloned = robot.clone() as URDFRobot\n\n    // 섀도우 캐스팅\n    cloned.traverse(child => {\n      if ((child as THREE.Mesh).isMesh) {\n        child.castShadow = true\n      }\n    })\n\n    // clear()는 object3d.userData를 리셋하므로 pending 후 재설정.\n    this.clear()\n    this.object3d.userData.context = this\n\n    this._robot = cloned\n\n    // 좌표계 변환: URDF(Z-up) → three(Y-up).\n    // 사용자가 state.upAxis = 'y' 로 지정하면 변환 생략.\n    this.pivot = new THREE.Object3D()\n    const upAxis = this.component.state.upAxis\n    if (upAxis !== 'y') {\n      this.pivot.rotation.x = X_NEG_PI_HALF\n    }\n\n    // URDF는 기본 meter 단위. state.unitScale로 에디터 단위로 환산.\n    const unitScale = this._resolveUnitScale()\n    if (unitScale !== 1) {\n      this.pivot.scale.setScalar(unitScale)\n    }\n\n    this.pivot.add(cloned)\n    // URDF의 base_link는 관행상 z=0이 바닥(floor origin). things-scene는 center\n    // origin이므로, components3D 그룹(= -geometricOffsetY만큼 shift된 바닥 기준\n    // subgroup)에 pivot을 넣어 로봇이 컴포넌트 바닥면에 서도록 한다.\n    this.components3D.add(this.pivot)\n\n    // 조인트 인덱스/메타 구축\n    this._buildJointIndex(cloned)\n\n    // bounding box 계산 후 updateDimension으로 크기 반영\n    const box = new THREE.Box3().setFromObject(this.pivot)\n    this._objectSize = box.getSize(new THREE.Vector3())\n\n    this.updateDimension()\n\n    // 자동 placement 정렬: URDF의 base_link 원점이 로봇 기하의 최저점이 아닐 때\n    // (Nao/minitaur/quadrotor는 torso/중심 기준) 로봇 일부가 컴포넌트 범위를\n    // 벗어나는 것을 방지. 씬의 placement 모드에 따라 정렬 기준이 다르다.\n    //   - floor:    로봇 최저점 → 컴포넌트 바닥면\n    //   - inverted: 로봇 최상점 → 컴포넌트 천장면 (매달림)\n    //   - space:    정렬 없음 (중심 원점 유지)\n    // state.floorAlign === false 로 비활성화 가능.\n    if (this.component.state.floorAlign !== false) {\n      const placement = this.scenePlacement\n      if (placement !== 'space') {\n        this.components3D.updateMatrixWorld(true)\n        const worldBox = new THREE.Box3().setFromObject(this.pivot)\n        if (isFinite(worldBox.min.y) && isFinite(worldBox.max.y)) {\n          if (placement === 'inverted') {\n            const localMax = this.components3D.worldToLocal(worldBox.max.clone())\n            if (localMax.y > 0) {\n              this.pivot.position.y -= localMax.y\n            }\n          } else {\n            // floor (기본)\n            const localMin = this.components3D.worldToLocal(worldBox.min.clone())\n            if (localMin.y < 0) {\n              this.pivot.position.y -= localMin.y\n            }\n          }\n        }\n      }\n    }\n\n    // 컨트롤러 초기화 (state.physics 설정된 경우)\n    const physicsMode = this.component.state.physics as string | undefined\n    if (physicsMode && physicsMode !== 'none') {\n      this._setupController(physicsMode)\n    }\n\n    // 초기 joint 상태 적용\n    const jointStates = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (jointStates) {\n      this._dispatchJointStates(jointStates)\n    }\n\n    // 자동 애니메이션 시작 (state.autoAnimate === 'sine'인 경우)\n    if (this.component.state.autoAnimate === 'sine') {\n      this._startAutoAnimate()\n    }\n\n    // 탑뷰 스냅샷\n    const source = this.component.state.src as string\n    if (source && !RealObjectURDF._topViewCache.has(source)) {\n      try {\n        const canvas = RealObjectGLTF.renderTopView(this.pivot)\n        RealObjectURDF._topViewCache.set(source, canvas)\n        ;(this.component as any)._topViewSnapshot = canvas\n      } catch {\n        // 스냅샷 실패는 치명적이지 않음\n      }\n    } else if (source) {\n      ;(this.component as any)._topViewSnapshot = RealObjectURDF._topViewCache.get(source)\n    }\n  }\n\n  private _resolveUnitScale(): number {\n    const s = this.component.state.unitScale\n    if (typeof s === 'number' && s > 0) return s\n    // 기본: URDF meter → 에디터 mm 스케일 1000\n    return 1000\n  }\n\n  /**\n   * 조인트 트리를 순회하며 인덱스와 메타를 구축한다.\n   * fixed 조인트는 조작 대상이 아니므로 메타에서 제외하되 인덱스에는 남긴다.\n   */\n  private _buildJointIndex(robot: URDFRobot) {\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n\n    const joints = robot.joints || {}\n    for (const [name, joint] of Object.entries(joints)) {\n      this._jointIndex.set(name, joint)\n      this._jointOriginals.set(name, joint.angle || 0)\n\n      if (joint.jointType === 'fixed') continue\n\n      this._jointMeta.set(name, {\n        name,\n        type: joint.jointType,\n        axis: { x: joint.axis.x, y: joint.axis.y, z: joint.axis.z },\n        limit: { ...joint.limit }\n      })\n    }\n  }\n\n  /**\n   * state.joints 변경을 적절한 경로로 디스패치한다.\n   *   - controller가 활성이면 setTargets (controller가 스무딩/물리 적용)\n   *   - 없으면 즉시 적용 (direct 모드, 기본)\n   */\n  private _dispatchJointStates(states: Record<string, URDFJointState | number>) {\n    if (this._controller) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(states)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      this._controller.setTargets(targets)\n      return\n    }\n    this._applyJointStates(states)\n  }\n\n  /**\n   * Controller를 인스턴스화하고 setup + tick 루프 시작.\n   * 이미 활성 중이면 먼저 해제.\n   */\n  private _setupController(mode: string) {\n    this._disposeController()\n    const ctrl = createJointController(mode)\n    if (!ctrl) {\n      warn(`URDFObject: unknown physics mode '${mode}'`)\n      return\n    }\n    if (!this._robot) return\n\n    ctrl.setup({ robot: this._robot, joints: this._jointIndex, jointMeta: this._jointMeta })\n    this._controller = ctrl\n\n    // 현재 state.joints를 초기 타겟으로 설정\n    const s = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (s) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(s)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      ctrl.setTargets(targets)\n    }\n\n    this._ctrlLastTime = performance.now()\n    const tick = () => {\n      if (!this._controller) {\n        this._ctrlRaf = undefined\n        return\n      }\n      const now = performance.now()\n      const dt = (now - this._ctrlLastTime) / 1000\n      this._ctrlLastTime = now\n      const changed = this._controller.tick(dt)\n      if (changed) {\n        this.component?.invalidate?.()\n      }\n      this._ctrlRaf = requestAnimationFrame(tick)\n    }\n    this._ctrlRaf = requestAnimationFrame(tick)\n  }\n\n  private _disposeController() {\n    if (this._ctrlRaf != null) {\n      cancelAnimationFrame(this._ctrlRaf)\n      this._ctrlRaf = undefined\n    }\n    if (this._controller) {\n      this._controller.dispose()\n      this._controller = undefined\n    }\n  }\n\n  /**\n   * state.joints 맵을 순회하며 각 조인트 값을 적용한다 (direct 모드).\n   * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).\n   *\n   * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.\n   * 표준 경로: invalidate → Layer.throttle_render → rAF __draw__ → trigger('redraw')\n   * → ThreeCapability.animate → renderThreeD.\n   */\n  private _applyJointStates(states: Record<string, URDFJointState | number>) {\n    if (!this._robot) return\n\n    let changed = false\n    for (const [name, raw] of Object.entries(states)) {\n      const joint = this._jointIndex.get(name)\n      if (!joint || joint.jointType === 'fixed') continue\n\n      const value = typeof raw === 'number' ? raw : raw?.value\n      if (typeof value !== 'number' || !isFinite(value)) continue\n\n      joint.setJointValue(value)\n      changed = true\n    }\n\n    if (changed) {\n      this.component?.invalidate?.()\n    }\n  }\n\n  /**\n   * 자동 sine 애니메이션 시작.\n   * 각 non-fixed 조인트를 limit 범위 내에서 sine 스윙. 조인트 순서에 따라\n   * frequency와 phase를 약간씩 다르게 해 동기화를 피하고 유기적 움직임을 만든다.\n   *\n   * state.joints를 건드리지 않고 joint.setJointValue만 직접 호출 — state 변경\n   * cascade를 피해 성능을 유지하고, 슬라이더가 있는 경우에도 state와 시각이\n   * 분리되어 표시됨 (활성 시 state는 의미 없음).\n   */\n  private _startAutoAnimate() {\n    if (this._animRaf != null) return\n    if (!this._robot || this._jointMeta.size === 0) return\n\n    this._animStartTime = performance.now()\n    const TWO_PI = Math.PI * 2\n\n    const tick = () => {\n      if (!this._robot) {\n        this._animRaf = undefined\n        return\n      }\n      const t = (performance.now() - this._animStartTime) / 1000\n\n      let i = 0\n      let changed = false\n      for (const [name, meta] of this._jointMeta) {\n        const joint = this._jointIndex.get(name)\n        if (!joint) continue\n\n        const mid = (meta.limit.upper + meta.limit.lower) / 2\n        const amp = (meta.limit.upper - meta.limit.lower) / 2\n        // 조인트별로 frequency와 phase 약간씩 다르게 (0.15 ~ 0.4 Hz 범위)\n        const freq = 0.15 + (i % 6) * 0.05\n        const phase = i * 0.73\n        const value = mid + amp * Math.sin(t * freq * TWO_PI + phase)\n        joint.setJointValue(value)\n        changed = true\n        i++\n      }\n\n      if (changed) {\n        this.component?.invalidate?.()\n      }\n      this._animRaf = requestAnimationFrame(tick)\n    }\n    this._animRaf = requestAnimationFrame(tick)\n  }\n\n  private _stopAutoAnimate() {\n    if (this._animRaf != null) {\n      cancelAnimationFrame(this._animRaf)\n      this._animRaf = undefined\n    }\n  }\n\n  /**\n   * 모든 조인트를 원본 값으로 복원한다.\n   */\n  private _resetAllJoints() {\n    if (!this._robot) return\n    for (const [name, orig] of this._jointOriginals) {\n      const joint = this._jointIndex.get(name)\n      if (joint && joint.jointType !== 'fixed') {\n        joint.setJointValue(orig)\n      }\n    }\n  }\n\n  // --- 라이프사이클 ---\n\n  clear() {\n    this._stopAutoAnimate()\n    this._disposeController()\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n    this._robot = undefined\n\n    return super.clear()\n  }\n\n  updateDimension() {\n    if (!this.pivot) return\n\n    const { width = 1, height = 1, depth = 1 } = this.component.state\n    const { x = 1, y = 1, z = 1 } = this._objectSize || {}\n\n    // URDF는 관절 기반 로봇의 비율을 유지해야 하므로 uniform scale을 적용한다.\n    // 세 축 각각의 비율 중 가장 작은 값(best-fit)을 사용해 로봇이 컴포넌트의\n    // bounding box 안에 왜곡 없이 맞춰지도록 한다.\n    const unit = this._resolveUnitScale()\n    const baseX = x || 1\n    const baseY = y || 1\n    const baseZ = z || 1\n    const upAxis = this.component.state.upAxis\n    const rotated = upAxis !== 'y'\n\n    const rX = width / baseX\n    const rY = (rotated ? depth : height) / baseY\n    const rZ = (rotated ? height : depth) / baseZ\n    const ratio = Math.min(rX, rY, rZ)\n\n    this.pivot.scale.setScalar(ratio * unit)\n\n    this.component.invalidate()\n  }\n\n  onchange(after: Properties, before: Properties) {\n    super.onchange(after, before)\n\n    if ('src' in after) {\n      this.updateSource()\n      return\n    }\n\n    if ('joints' in after) {\n      // 사용자가 joint를 직접 조작하면 자동 애니메이션이 이를 즉시 덮어써\n      // 의도를 상쇄하므로, 자동 애니메이션을 우선 중지한다.\n      if (this._animRaf != null) {\n        this._stopAutoAnimate()\n        this._component.setState({ autoAnimate: 'none' })\n      }\n      const jointStates = after.joints as Record<string, URDFJointState | number> | undefined\n      if (this._controller) {\n        // controller 모드: 타겟만 갱신. 이전 값 리셋은 controller가 연속 감쇠로\n        // 알아서 수렴하므로 불필요.\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._dispatchJointStates(jointStates)\n        }\n      } else {\n        // direct 모드: 전체 reset 후 명시된 값만 재적용 (sparse state 지원).\n        this._resetAllJoints()\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._applyJointStates(jointStates)\n        }\n      }\n    }\n\n    if ('autoAnimate' in after) {\n      if (after.autoAnimate === 'sine') {\n        this._startAutoAnimate()\n      } else {\n        this._stopAutoAnimate()\n      }\n    }\n\n    if ('physics' in after) {\n      const mode = after.physics as string | undefined\n      if (mode && mode !== 'none') {\n        this._setupController(mode)\n      } else {\n        this._disposeController()\n      }\n    }\n\n    if ('upAxis' in after || 'unitScale' in after || 'packages' in after) {\n      // 좌표/스케일/패키지 매핑 변경은 pivot 재구성이 필요하므로 전체 재빌드\n      this.build()\n    }\n  }\n}\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF (Unified Robot Description Format) 지원 RealObject.\n * RealObjectGLTF와 동일한 캐시/레이스/placeholder 패턴을 따른다.\n *\n * 차이점: GLTF는 노드/애니메이션이 주된 바인딩 대상이지만, URDF는 \"joint\"가\n * 1급 시민이다. state.joints에 이름→라디안(또는 prismatic의 경우 거리) 맵을\n * 두어 외부 센서값 등을 연결할 수 있도록 한다.\n *\n * 좌표계: URDF는 Z-up, things-scene의 3D는 Y-up. 로드 후 루트 그룹에 1회만\n * -PI/2 X축 회전을 적용하여 변환한다. 내부 조인트 축은 원본 그대로 유지.\n */\n\nimport * as THREE from 'three'\nimport URDFLoader from 'urdf-loader'\nimport type { URDFRobot, URDFJoint } from 'urdf-loader'\nimport { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'\nimport { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js'\n\nimport { warn, frameClock } from '@hatiolab/things-scene'\nimport type { Properties, Unsubscribe } from '@hatiolab/things-scene'\n\nimport { RealObjectExternalModel } from '@hatiolab/things-scene'\nimport { RealObjectGLTF } from '@hatiolab/things-scene'\nimport type { URDFObject } from './urdf-object.js'\n\nimport { createJointController, type JointController } from './joint-controller.js'\n\nexport interface URDFJointState {\n  /** revolute/continuous: 라디안. prismatic: 거리(URDF 단위). */\n  value?: number\n}\n\nexport interface URDFJointMeta {\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 X_NEG_PI_HALF = -Math.PI / 2\n\nexport class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {\n  override get component(): URDFObject {\n    return super.component as URDFObject\n  }\n\n  protected get _formatLabel() { return 'urdf' }\n  protected get _placeholderColor() { return 0x1976d2 }\n  // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.\n  private static _urdfCache = new Map<string, Promise<URDFRobot>>()\n\n  // 탑뷰 스냅샷 캐시 (2D 렌더 폴백)\n  private static _topViewCache = new Map<string, HTMLCanvasElement>()\n\n  /**\n   * URDF를 로드한다 (동일 URL 캐시).\n   * mesh 로더는 STL/DAE(내장) + OBJ(MTL 연동) + GLB(확장)를 지원한다.\n   *\n   * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는\n   * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된\n   * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의\n   * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.\n   *\n   * `packages` 옵션을 통해 ROS `package://<pkg>/<rel>` prefix 해석을 설정할 수\n   * 있다 (예: `{ a1_description: 'https://.../robots/a1_description' }`).\n   */\n  static loadURDF(url: string, packages?: Record<string, string>): Promise<URDFRobot> {\n    // 동일 URL이라도 packages 설정이 다르면 다른 캐시 엔트리.\n    const cacheKey = packages && Object.keys(packages).length > 0\n      ? `${url}|${JSON.stringify(packages)}`\n      : url\n    let cached = RealObjectURDF._urdfCache.get(cacheKey)\n    if (!cached) {\n      cached = new Promise<URDFRobot>((resolve, reject) => {\n        const manager = new THREE.LoadingManager()\n        const loader = new URDFLoader(manager)\n        if (packages) {\n          loader.packages = packages\n        }\n\n        loader.loadMeshCb = ((path: string, mgr: THREE.LoadingManager, done: (mesh: any, err?: Error) => void) => {\n          if (/\\.(glb|gltf)$/i.test(path)) {\n            // GLB는 별도 시스템 — manager 추적에서 벗어나므로 명시적으로 track.\n            mgr.itemStart(path)\n            RealObjectGLTF.loadGLTF(path).then(\n              gltf => { done(gltf.scene.clone()); mgr.itemEnd(path) },\n              err => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n            )\n          } else if (/\\.obj$/i.test(path)) {\n            // OBJ는 urdf-loader 내장 defaultMeshLoader가 지원하지 않음.\n            // 연관된 .mtl(재질) 파일이 있으면 MTLLoader로 먼저 로드하여 색상/텍스처\n            // 적용, 없으면 OBJLoader만 폴백.\n            //\n            // LoadingManager 정합성: 외부 path로만 itemStart/itemEnd를 1회씩\n            // 기록한다. 내부 MTLLoader/OBJLoader는 manager 주입 없이 생성하여\n            // 서브-아이템으로 카운트되지 않게 함 — 그렇지 않으면 MTL 404 직후\n            // 일시적으로 pending=0이 되어 manager.onLoad가 조기 발화하고\n            // 최종 로봇이 빈 상태로 resolve되는 레이스가 발생.\n            mgr.itemStart(path)\n            const finishOk = (mesh: any) => { done(mesh); mgr.itemEnd(path) }\n            const finishErr = (err: Error) => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n\n            const lastSlash = path.lastIndexOf('/')\n            const baseUrl = lastSlash >= 0 ? path.substring(0, lastSlash + 1) : ''\n            const mtlName = path.substring(lastSlash + 1).replace(/\\.obj$/i, '.mtl')\n\n            const loadObjOnly = () => {\n              new OBJLoader().load(\n                path,\n                group => finishOk(group),\n                undefined,\n                err => finishErr(err as Error)\n              )\n            }\n            new MTLLoader().setResourcePath(baseUrl).setPath(baseUrl).load(\n              mtlName,\n              materials => {\n                materials.preload()\n                new OBJLoader().setMaterials(materials).load(\n                  path,\n                  group => finishOk(group),\n                  undefined,\n                  err => finishErr(err as Error)\n                )\n              },\n              undefined,\n              () => {\n                // MTL 로드 실패 시 OBJ만 로드 (정상 시나리오 — MTL 없는 OBJ도 있음)\n                loadObjOnly()\n              }\n            )\n          } else {\n            // STL/DAE는 urdf-loader 내장 디폴트로 폴백 (manager 자동 추적)\n            ;(loader as any).defaultMeshLoader(path, mgr, done)\n          }\n        }) as any\n\n        let robotResult: URDFRobot | undefined\n\n        manager.onLoad = () => {\n          if (robotResult) resolve(robotResult)\n          else reject(new Error('URDF load completed but no robot result'))\n        }\n        manager.onError = (failedUrl: string) => {\n          // 개별 에러는 로그로만 남김 — 전체 로드는 그래도 완료되도록\n          // (일부 mesh 실패 시 나머지라도 보이게)\n          warn('URDFLoader: resource load error', failedUrl)\n        }\n\n        loader.load(\n          url,\n          robot => { robotResult = robot },\n          undefined,\n          err => reject(err)\n        )\n      }).catch(err => {\n        RealObjectURDF._urdfCache.delete(cacheKey)\n        throw err\n      })\n      RealObjectURDF._urdfCache.set(cacheKey, cached)\n    }\n    return cached\n  }\n\n  /** 모든 캐시 비움 (보드 전환 시 호출) */\n  static flushCache() {\n    RealObjectURDF._urdfCache.clear()\n    RealObjectURDF._topViewCache.clear()\n  }\n\n  static getTopViewCache(source: string): HTMLCanvasElement | undefined {\n    return RealObjectURDF._topViewCache.get(source)\n  }\n\n  static setTopViewCache(source: string, canvas: HTMLCanvasElement) {\n    RealObjectURDF._topViewCache.set(source, canvas)\n  }\n\n  // --- 인스턴스 상태 ---\n\n  private _robot?: URDFRobot\n\n  // 조인트 인덱스 + 메타 (로드 후 외부에서 구독 가능)\n  private _jointIndex = new Map<string, URDFJoint>()\n  private _jointMeta = new Map<string, URDFJointMeta>()\n\n  // 원본 조인트 값 — reset을 위해 보존\n  private _jointOriginals = new Map<string, number>()\n\n  // 자동 애니메이션 (sine 모드) 상태\n  private _animUnsub: Unsubscribe | null = null\n\n  // Joint controller (physics mode) 상태\n  private _controller?: JointController\n  private _ctrlUnsub: Unsubscribe | null = null\n\n  get robot(): URDFRobot | undefined {\n    return this._robot\n  }\n\n  /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */\n  get jointMeta(): URDFJointMeta[] {\n    return Array.from(this._jointMeta.values())\n  }\n\n  get jointNames(): string[] {\n    return Array.from(this._jointIndex.keys())\n  }\n\n  protected _loadExternal(url: string): Promise<URDFRobot> {\n    const packages = this.component.state.packages as Record<string, string> | undefined\n    return RealObjectURDF.loadURDF(url, packages)\n  }\n\n  protected _onLoaded(robot: URDFRobot) {\n    if (this.component.state.loadError) {\n      this.component.setState({ loadError: undefined })\n    }\n\n    // 캐시의 robot은 공유 참조이므로 clone하여 독립 인스턴스 구성.\n    // urdf-loader의 URDFRobot는 Object3D를 상속하므로 Object3D.clone()이 안전하게 동작.\n    const cloned = robot.clone() as URDFRobot\n\n    // 섀도우 캐스팅\n    cloned.traverse(child => {\n      if ((child as THREE.Mesh).isMesh) {\n        child.castShadow = true\n      }\n    })\n\n    // clear()는 object3d.userData를 리셋하므로 pending 후 재설정.\n    this.clear()\n    this.object3d.userData.context = this\n\n    this._robot = cloned\n\n    // 좌표계 변환: URDF(Z-up) → three(Y-up).\n    // 사용자가 state.upAxis = 'y' 로 지정하면 변환 생략.\n    this.pivot = new THREE.Object3D()\n    const upAxis = this.component.state.upAxis\n    if (upAxis !== 'y') {\n      this.pivot.rotation.x = X_NEG_PI_HALF\n    }\n\n    // URDF는 기본 meter 단위. state.unitScale로 에디터 단위로 환산.\n    const unitScale = this._resolveUnitScale()\n    if (unitScale !== 1) {\n      this.pivot.scale.setScalar(unitScale)\n    }\n\n    this.pivot.add(cloned)\n    // URDF의 base_link는 관행상 z=0이 바닥(floor origin). things-scene는 center\n    // origin이므로, components3D 그룹(= -geometricOffsetY만큼 shift된 바닥 기준\n    // subgroup)에 pivot을 넣어 로봇이 컴포넌트 바닥면에 서도록 한다.\n    this.components3D.add(this.pivot)\n\n    // 조인트 인덱스/메타 구축\n    this._buildJointIndex(cloned)\n\n    // bounding box 계산 후 updateDimension으로 크기 반영\n    const box = new THREE.Box3().setFromObject(this.pivot)\n    this._objectSize = box.getSize(new THREE.Vector3())\n\n    this.updateDimension()\n\n    // 자동 placement 정렬: URDF의 base_link 원점이 로봇 기하의 최저점이 아닐 때\n    // (Nao/minitaur/quadrotor는 torso/중심 기준) 로봇 일부가 컴포넌트 범위를\n    // 벗어나는 것을 방지. 씬의 placement 모드에 따라 정렬 기준이 다르다.\n    //   - floor:    로봇 최저점 → 컴포넌트 바닥면\n    //   - inverted: 로봇 최상점 → 컴포넌트 천장면 (매달림)\n    //   - space:    정렬 없음 (중심 원점 유지)\n    // state.floorAlign === false 로 비활성화 가능.\n    if (this.component.state.floorAlign !== false) {\n      const placement = this.scenePlacement\n      if (placement !== 'space') {\n        this.components3D.updateMatrixWorld(true)\n        const worldBox = new THREE.Box3().setFromObject(this.pivot)\n        if (isFinite(worldBox.min.y) && isFinite(worldBox.max.y)) {\n          if (placement === 'inverted') {\n            const localMax = this.components3D.worldToLocal(worldBox.max.clone())\n            if (localMax.y > 0) {\n              this.pivot.position.y -= localMax.y\n            }\n          } else {\n            // floor (기본)\n            const localMin = this.components3D.worldToLocal(worldBox.min.clone())\n            if (localMin.y < 0) {\n              this.pivot.position.y -= localMin.y\n            }\n          }\n        }\n      }\n    }\n\n    // 컨트롤러 초기화 (state.physics 설정된 경우)\n    const physicsMode = this.component.state.physics as string | undefined\n    if (physicsMode && physicsMode !== 'none') {\n      this._setupController(physicsMode)\n    }\n\n    // 초기 joint 상태 적용\n    const jointStates = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (jointStates) {\n      this._dispatchJointStates(jointStates)\n    }\n\n    // 자동 애니메이션 시작 (state.autoAnimate === 'sine'인 경우)\n    if (this.component.state.autoAnimate === 'sine') {\n      this._startAutoAnimate()\n    }\n\n    // 탑뷰 스냅샷\n    const source = this.component.state.src as string\n    if (source && !RealObjectURDF._topViewCache.has(source)) {\n      try {\n        const canvas = RealObjectGLTF.renderTopView(this.pivot)\n        RealObjectURDF._topViewCache.set(source, canvas)\n        this.component._topViewSnapshot = canvas\n      } catch {\n        // 스냅샷 실패는 치명적이지 않음\n      }\n    } else if (source) {\n      this.component._topViewSnapshot = RealObjectURDF._topViewCache.get(source)\n    }\n  }\n\n  private _resolveUnitScale(): number {\n    const s = this.component.state.unitScale\n    if (typeof s === 'number' && s > 0) return s\n    // 기본: URDF meter → 에디터 mm 스케일 1000\n    return 1000\n  }\n\n  /**\n   * 조인트 트리를 순회하며 인덱스와 메타를 구축한다.\n   * fixed 조인트는 조작 대상이 아니므로 메타에서 제외하되 인덱스에는 남긴다.\n   */\n  private _buildJointIndex(robot: URDFRobot) {\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n\n    const joints = robot.joints || {}\n    for (const [name, joint] of Object.entries(joints)) {\n      this._jointIndex.set(name, joint)\n      this._jointOriginals.set(name, joint.angle || 0)\n\n      if (joint.jointType === 'fixed') continue\n\n      this._jointMeta.set(name, {\n        name,\n        type: joint.jointType,\n        axis: { x: joint.axis.x, y: joint.axis.y, z: joint.axis.z },\n        limit: { ...joint.limit }\n      })\n    }\n  }\n\n  /**\n   * state.joints 변경을 적절한 경로로 디스패치한다.\n   *   - controller가 활성이면 setTargets (controller가 스무딩/물리 적용)\n   *   - 없으면 즉시 적용 (direct 모드, 기본)\n   */\n  private _dispatchJointStates(states: Record<string, URDFJointState | number>) {\n    if (this._controller) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(states)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      this._controller.setTargets(targets)\n      return\n    }\n    this._applyJointStates(states)\n  }\n\n  /**\n   * Controller를 인스턴스화하고 setup + tick 루프 시작.\n   * 이미 활성 중이면 먼저 해제.\n   */\n  private _setupController(mode: string) {\n    this._disposeController()\n    const ctrl = createJointController(mode)\n    if (!ctrl) {\n      warn(`URDFObject: unknown physics mode '${mode}'`)\n      return\n    }\n    if (!this._robot) return\n\n    ctrl.setup({ robot: this._robot, joints: this._jointIndex, jointMeta: this._jointMeta })\n    this._controller = ctrl\n\n    // 현재 state.joints를 초기 타겟으로 설정\n    const s = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (s) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(s)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      ctrl.setTargets(targets)\n    }\n\n    // Joint physics ticks every frame so manual joint manipulation stays responsive.\n    // dt is in ms — convert to seconds to match the JointController contract.\n    this._ctrlUnsub = frameClock.subscribe(\n      (dt) => {\n        if (!this._controller) {\n          this._ctrlUnsub?.()\n          this._ctrlUnsub = null\n          return\n        }\n        const dtSec = dt / 1000\n        const changed = this._controller.tick(dtSec)\n        if (changed) {\n          this.component?.invalidate?.()\n        }\n      },\n      { description: 'URDF joint physics', component: this.component }\n    )\n  }\n\n  private _disposeController() {\n    if (this._ctrlUnsub) {\n      this._ctrlUnsub()\n      this._ctrlUnsub = null\n    }\n    if (this._controller) {\n      this._controller.dispose()\n      this._controller = undefined\n    }\n  }\n\n  /**\n   * state.joints 맵을 순회하며 각 조인트 값을 적용한다 (direct 모드).\n   * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).\n   *\n   * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.\n   * 표준 경로: invalidate → Layer.throttle_render → rAF __draw__ → trigger('redraw')\n   * → ThreeCapability.animate → renderThreeD.\n   */\n  private _applyJointStates(states: Record<string, URDFJointState | number>) {\n    if (!this._robot) return\n\n    let changed = false\n    for (const [name, raw] of Object.entries(states)) {\n      const joint = this._jointIndex.get(name)\n      if (!joint || joint.jointType === 'fixed') continue\n\n      const value = typeof raw === 'number' ? raw : raw?.value\n      if (typeof value !== 'number' || !isFinite(value)) continue\n\n      joint.setJointValue(value)\n      changed = true\n    }\n\n    if (changed) {\n      this.component?.invalidate?.()\n    }\n  }\n\n  /**\n   * 자동 sine 애니메이션 시작.\n   * 각 non-fixed 조인트를 limit 범위 내에서 sine 스윙. 조인트 순서에 따라\n   * frequency와 phase를 약간씩 다르게 해 동기화를 피하고 유기적 움직임을 만든다.\n   *\n   * state.joints를 건드리지 않고 joint.setJointValue만 직접 호출 — state 변경\n   * cascade를 피해 성능을 유지하고, 슬라이더가 있는 경우에도 state와 시각이\n   * 분리되어 표시됨 (활성 시 state는 의미 없음).\n   */\n  private _startAutoAnimate() {\n    if (this._animUnsub) return\n    if (!this._robot || this._jointMeta.size === 0) return\n\n    const TWO_PI = Math.PI * 2\n    let startTime: number | undefined\n\n    // Sine animation is a visual demo / UX feature.\n    // `time` arg is sim-clock ms since the FrameClock booted; capture the first\n    // sample as t0 to get elapsed seconds.\n    this._animUnsub = frameClock.subscribe(\n      (_dt, time) => {\n        if (!this._robot) {\n          this._animUnsub?.()\n          this._animUnsub = null\n          return\n        }\n        if (startTime === undefined) startTime = time\n        const t = (time - startTime) / 1000\n\n        let i = 0\n        let changed = false\n        for (const [name, meta] of this._jointMeta) {\n          const joint = this._jointIndex.get(name)\n          if (!joint) continue\n\n          const mid = (meta.limit.upper + meta.limit.lower) / 2\n          const amp = (meta.limit.upper - meta.limit.lower) / 2\n          // 조인트별로 frequency와 phase 약간씩 다르게 (0.15 ~ 0.4 Hz 범위)\n          const freq = 0.15 + (i % 6) * 0.05\n          const phase = i * 0.73\n          const value = mid + amp * Math.sin(t * freq * TWO_PI + phase)\n          joint.setJointValue(value)\n          changed = true\n          i++\n        }\n\n        if (changed) {\n          this.component?.invalidate?.()\n        }\n      },\n      { description: 'URDF sine demo', component: this.component }\n    )\n  }\n\n  private _stopAutoAnimate() {\n    if (this._animUnsub) {\n      this._animUnsub()\n      this._animUnsub = null\n    }\n  }\n\n  /**\n   * 모든 조인트를 원본 값으로 복원한다.\n   */\n  private _resetAllJoints() {\n    if (!this._robot) return\n    for (const [name, orig] of this._jointOriginals) {\n      const joint = this._jointIndex.get(name)\n      if (joint && joint.jointType !== 'fixed') {\n        joint.setJointValue(orig)\n      }\n    }\n  }\n\n  // --- 라이프사이클 ---\n\n  clear() {\n    this._stopAutoAnimate()\n    this._disposeController()\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n    this._robot = undefined\n\n    return super.clear()\n  }\n\n  updateDimension() {\n    if (!this.pivot) return\n\n    const { width = 1, height = 1, depth = 1 } = this.component.state\n    const { x = 1, y = 1, z = 1 } = this._objectSize || {}\n\n    // URDF는 관절 기반 로봇의 비율을 유지해야 하므로 uniform scale을 적용한다.\n    // 세 축 각각의 비율 중 가장 작은 값(best-fit)을 사용해 로봇이 컴포넌트의\n    // bounding box 안에 왜곡 없이 맞춰지도록 한다.\n    const unit = this._resolveUnitScale()\n    const baseX = x || 1\n    const baseY = y || 1\n    const baseZ = z || 1\n    const upAxis = this.component.state.upAxis\n    const rotated = upAxis !== 'y'\n\n    const rX = width / baseX\n    const rY = (rotated ? depth : height) / baseY\n    const rZ = (rotated ? height : depth) / baseZ\n    const ratio = Math.min(rX, rY, rZ)\n\n    this.pivot.scale.setScalar(ratio * unit)\n\n    this.component.invalidate()\n  }\n\n  onchange(after: Properties, before: Properties) {\n    super.onchange(after, before)\n\n    if ('src' in after) {\n      this.updateSource()\n      return\n    }\n\n    if ('joints' in after) {\n      // 사용자가 joint를 직접 조작하면 자동 애니메이션이 이를 즉시 덮어써\n      // 의도를 상쇄하므로, 자동 애니메이션을 우선 중지한다.\n      if (this._animUnsub) {\n        this._stopAutoAnimate()\n        this._component.setState({ autoAnimate: 'none' })\n      }\n      const jointStates = after.joints as Record<string, URDFJointState | number> | undefined\n      if (this._controller) {\n        // controller 모드: 타겟만 갱신. 이전 값 리셋은 controller가 연속 감쇠로\n        // 알아서 수렴하므로 불필요.\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._dispatchJointStates(jointStates)\n        }\n      } else {\n        // direct 모드: 전체 reset 후 명시된 값만 재적용 (sparse state 지원).\n        this._resetAllJoints()\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._applyJointStates(jointStates)\n        }\n      }\n    }\n\n    if ('autoAnimate' in after) {\n      if (after.autoAnimate === 'sine') {\n        this._startAutoAnimate()\n      } else {\n        this._stopAutoAnimate()\n      }\n    }\n\n    if ('physics' in after) {\n      const mode = after.physics as string | undefined\n      if (mode && mode !== 'none') {\n        this._setupController(mode)\n      } else {\n        this._disposeController()\n      }\n    }\n\n    if ('upAxis' in after || 'unitScale' in after || 'packages' in after) {\n      // 좌표/스케일/패키지 매핑 변경은 pivot 재구성이 필요하므로 전체 재빌드\n      this.build()\n    }\n  }\n}\n"]}

package/dist/urdf-object.d.ts

@@ -2,12 +2,12 @@ import { Shape, type ComponentNature, type IRealObject } from '@hatiolab/things-
 import type { URDFJointState, URDFJointMeta } from './real-object-urdf.js';
 declare const URDFObject_base: (new (...args: any[]) => {
     _topViewSnapshot?: HTMLCanvasElement;
+    _snapshotLoading: boolean;
     _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;
@@ -53,6 +53,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     created(): void;
     added(parent: any): void;
     removed(parent: any): void;
+    ready(): Promise<void>;
     touch(): void;
     clearCache(...attrs: any[]): void;
     removeSelf(completely: any): void;
@@ -62,7 +63,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     get disposed(): boolean;
     isLayer(): boolean;
     isGroup(): boolean;
-    isContainer(): this is import("@hatiolab/things-scene/dist-types/types/component.js").Container;
+    isContainer(): this is import("@hatiolab/things-scene").Container;
     isLine(): boolean;
     isRoot(): boolean;
     isRootModel(): boolean;
@@ -77,7 +78,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     get(property: any): any;
     getState(property: any): any;
     get model(): any;
-    get state(): any;
+    get state(): import("@hatiolab/things-scene").State;
     get hierarchy(): any;
     get volatile(): never[];
     _applyProps(target: any, props: any, options: any): any;
@@ -168,7 +169,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     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;
+    isDescendible(container: import("@hatiolab/things-scene").Component | any): boolean;
     getContext(component?: unknown): any;
     get root(): import("@hatiolab/things-scene").Component;
     get rootModel(): import("@hatiolab/things-scene").Component;
@@ -213,9 +214,13 @@ declare const URDFObject_base: (new (...args: any[]) => {
     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<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     on(name: string | object, callback: Function, context?: any): any;
+    off<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback?: ((...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void) | undefined, context?: any): any;
     off(name?: string | object, callback?: Function, context?: any): any;
+    once<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     once(name: string | object, callback: Function, context?: any): any;
+    trigger<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, ...args: import("@hatiolab/things-scene").ComponentEventMap[K]): any;
     trigger(name: string, ...args: any[]): any;
     delegate_on(delegator: any): any;
     delegate_off(delegator: any): any;
@@ -295,7 +300,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     get disposed(): boolean;
     isLayer(): boolean;
     isGroup(): boolean;
-    isContainer(): this is import("@hatiolab/things-scene/dist-types/types/component.js").Container;
+    isContainer(): this is import("@hatiolab/things-scene").Container;
     isLine(): boolean;
     isRoot(): boolean;
     isRootModel(): boolean;
@@ -311,9 +316,9 @@ declare const URDFObject_base: (new (...args: any[]) => {
     get(property: any): any;
     set(props: any, propval?: any): any;
     getState(property: any): any;
-    setState(props: any, propval?: any): any;
+    setState(props: Partial<import("@hatiolab/things-scene").State> | string, propval?: any): any;
     get model(): any;
-    get state(): any;
+    get state(): import("@hatiolab/things-scene").State;
     get hierarchy(): any;
     get volatile(): never[];
     _applyProps(target: any, props: any, options: any): any;
@@ -404,7 +409,7 @@ declare const URDFObject_base: (new (...args: any[]) => {
     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;
+    isDescendible(container: import("@hatiolab/things-scene").Component | any): boolean;
     getContext(component?: unknown): any;
     get root(): import("@hatiolab/things-scene").Component;
     get rootModel(): import("@hatiolab/things-scene").Component;
@@ -448,9 +453,13 @@ declare const URDFObject_base: (new (...args: any[]) => {
     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<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     on(name: string | object, callback: Function, context?: any): any;
+    off<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback?: ((...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void) | undefined, context?: any): any;
     off(name?: string | object, callback?: Function, context?: any): any;
+    once<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, callback: (...args: import("@hatiolab/things-scene").ComponentEventMap[K]) => void, context?: any): any;
     once(name: string | object, callback: Function, context?: any): any;
+    trigger<K extends keyof import("@hatiolab/things-scene").ComponentEventMap>(name: K, ...args: import("@hatiolab/things-scene").ComponentEventMap[K]): any;
     trigger(name: string, ...args: any[]): any;
     delegate_on(delegator: any): any;
     delegate_off(delegator: any): any;
@@ -483,6 +492,8 @@ declare const URDFObject_base: (new (...args: any[]) => {
     set element(_v: HTMLElement | null): any;
 }) & typeof Shape;
 export declare class URDFObject extends URDFObject_base {
+    /** URDF 모델의 top-view 스냅샷 (캔버스). RealObjectURDF._onLoaded 가 캐시 hit 시 직접 세팅. */
+    _topViewSnapshot?: HTMLCanvasElement;
     /**
      * URDF 캐시 hit 만 처리. miss 시는 RealObjectURDF.\_onLoaded 가
      * 캐시를 채우고 component.\_topViewSnapshot 을 직접 세팅한다 (URDF

package/dist/urdf-object.js.map

@@ -1 +1 @@
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All rights reserved.\n *\n * URDF 로봇을 things-scene 3D 공간에 네이티브로 임베드한다.\n * GLTFObject와 대칭적인 구조 — 2D 탑뷰는 스냅샷 렌더로 표현한다.\n *\n * GltfComponent mixin 합류 (2026-05): GLB / URDF 양쪽이 공유하는\n *   - 2D 탑뷰 fallback render (스냅샷 + 라벨)\n *   - src 변경 → 스냅샷 reset → ensure 라이프사이클\n *   - is3dish / hasTextProperty / controls / source / dimension 보일러플레이트\n *   - ratioLock 인터셉트\n * 를 mixin에서 받음. URDF 고유는:\n *   - `_ensureTopViewSnapshot()` override — URDF 로더는 GLB 로더와 다르므로\n *     mixin 디폴트(GLB loader 호출)를 쓸 수 없고, 캐시 히트만 처리하고\n *     miss 는 RealObjectURDF._onLoaded 가 채우도록 위임.\n *   - `buildRealObject()` override — RealObjectURDF 반환.\n *   - NATURE — urdf-preset / urdf-joints / upAxis / unitScale / autoAnimate\n *     / physics 등 로봇 도메인 전용 properties (GLB의 gltfNatureProperties\n *     와 의미가 다르므로 spread 안 함).\n */\n\nimport {\n  GltfComponent,\n  RectPath,\n  Shape,\n  sceneComponent,\n  type ComponentNature,\n  type IRealObject\n} from '@hatiolab/things-scene'\nimport { RealObjectURDF } from './real-object-urdf.js'\nimport type { URDFJointState, URDFJointMeta } from './real-object-urdf.js'\n\nconst BASE_URL_ALIAS = '$base_url'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'urdf-preset',\n      label: 'preset',\n      name: 'preset'\n    },\n    {\n      type: 'string',\n      label: 'url',\n      name: 'src',\n      property: {\n        displayField: 'id',\n        displayFullUrl: true,\n        baseUrlAlias: BASE_URL_ALIAS,\n        defaultStorage: '3d-model',\n        storageFilters: {\n          type: Array,\n          value: [\n            {\n              name: 'category',\n              value: 'urdf'\n            }\n          ]\n        },\n        useUpload: true,\n        category: 'application'\n      }\n    },\n    {\n      type: 'select',\n      label: 'up-axis',\n      name: 'upAxis',\n      property: {\n        options: [\n          { display: 'Z (URDF default)', value: 'z' },\n          { display: 'Y (Three.js default)', value: 'y' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'unit-scale',\n      name: 'unitScale',\n      placeholder: '1000'\n    },\n    {\n      type: 'select',\n      label: 'auto-animate',\n      name: 'autoAnimate',\n      property: {\n        options: [\n          { display: 'Off', value: 'none' },\n          { display: 'Sine swing', value: 'sine' }\n        ]\n      }\n    },\n    {\n      type: 'select',\n      label: 'physics',\n      name: 'physics',\n      property: {\n        options: [\n          { display: 'Direct (immediate)', value: 'none' },\n          { display: 'Smooth (damped)', value: 'smooth' }\n        ]\n      }\n    },\n    {\n      type: 'urdf-joints',\n      label: '',\n      name: 'joints',\n      editor: {\n        fullwidth: true\n      }\n    }\n  ],\n  'value-property': 'source',\n  help: 'scene/component/urdf'\n}\n\n@sceneComponent('urdf')\nexport class URDFObject extends GltfComponent(RectPath(Shape)) {\n  /**\n   * URDF 캐시 hit 만 처리. miss 시는 RealObjectURDF.\\_onLoaded 가\n   * 캐시를 채우고 component.\\_topViewSnapshot 을 직접 세팅한다 (URDF\n   * 로더는 GLB 로더와 다르므로 mixin 의 디폴트 — RealObjectGLTF.loadGLTF\n   * 직접 호출 — 을 쓸 수 없다).\n   */\n  override _ensureTopViewSnapshot() {\n    const src = this.getState('src') as string | undefined\n    if (!src) return\n\n    const cached = RealObjectURDF.getTopViewCache(src)\n    if (cached) {\n      this._topViewSnapshot = cached\n      this.invalidate()\n    }\n  }\n\n  override buildRealObject(): IRealObject | undefined {\n    return new RealObjectURDF(this as any)\n  }\n\n  get nature() {\n    return NATURE\n  }\n\n  // --- URDF 바인딩 API ---\n\n  /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */\n  get joints(): Record<string, URDFJointState | number> | undefined {\n    return this.getState('joints')\n  }\n\n  set joints(value: Record<string, URDFJointState | number> | undefined) {\n    this.setState('joints', value)\n  }\n\n  /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */\n  get jointMeta(): URDFJointMeta[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointMeta ?? []\n  }\n\n  get jointNames(): string[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointNames ?? []\n  }\n}\n"]}
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All rights reserved.\n *\n * URDF 로봇을 things-scene 3D 공간에 네이티브로 임베드한다.\n * GLTFObject와 대칭적인 구조 — 2D 탑뷰는 스냅샷 렌더로 표현한다.\n *\n * GltfComponent mixin 합류 (2026-05): GLB / URDF 양쪽이 공유하는\n *   - 2D 탑뷰 fallback render (스냅샷 + 라벨)\n *   - src 변경 → 스냅샷 reset → ensure 라이프사이클\n *   - is3dish / hasTextProperty / controls / source / dimension 보일러플레이트\n *   - ratioLock 인터셉트\n * 를 mixin에서 받음. URDF 고유는:\n *   - `_ensureTopViewSnapshot()` override — URDF 로더는 GLB 로더와 다르므로\n *     mixin 디폴트(GLB loader 호출)를 쓸 수 없고, 캐시 히트만 처리하고\n *     miss 는 RealObjectURDF._onLoaded 가 채우도록 위임.\n *   - `buildRealObject()` override — RealObjectURDF 반환.\n *   - NATURE — urdf-preset / urdf-joints / upAxis / unitScale / autoAnimate\n *     / physics 등 로봇 도메인 전용 properties (GLB의 gltfNatureProperties\n *     와 의미가 다르므로 spread 안 함).\n */\n\nimport {\n  GltfComponent,\n  RectPath,\n  Shape,\n  sceneComponent,\n  type ComponentNature,\n  type IRealObject\n} from '@hatiolab/things-scene'\n\nimport { RealObjectURDF } from './real-object-urdf.js'\nimport type { URDFJointState, URDFJointMeta } from './real-object-urdf.js'\n\nconst BASE_URL_ALIAS = '$base_url'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'urdf-preset',\n      label: 'preset',\n      name: 'preset'\n    },\n    {\n      type: 'string',\n      label: 'url',\n      name: 'src',\n      property: {\n        displayField: 'id',\n        displayFullUrl: true,\n        baseUrlAlias: BASE_URL_ALIAS,\n        defaultStorage: '3d-model',\n        storageFilters: {\n          type: Array,\n          value: [\n            {\n              name: 'category',\n              value: 'urdf'\n            }\n          ]\n        },\n        useUpload: true,\n        category: 'application'\n      }\n    },\n    {\n      type: 'select',\n      label: 'up-axis',\n      name: 'upAxis',\n      property: {\n        options: [\n          { display: 'Z (URDF default)', value: 'z' },\n          { display: 'Y (Three.js default)', value: 'y' }\n        ]\n      }\n    },\n    {\n      type: 'number',\n      label: 'unit-scale',\n      name: 'unitScale',\n      placeholder: '1000'\n    },\n    {\n      type: 'select',\n      label: 'auto-animate',\n      name: 'autoAnimate',\n      property: {\n        options: [\n          { display: 'Off', value: 'none' },\n          { display: 'Sine swing', value: 'sine' }\n        ]\n      }\n    },\n    {\n      type: 'select',\n      label: 'physics',\n      name: 'physics',\n      property: {\n        options: [\n          { display: 'Direct (immediate)', value: 'none' },\n          { display: 'Smooth (damped)', value: 'smooth' }\n        ]\n      }\n    },\n    {\n      type: 'urdf-joints',\n      label: '',\n      name: 'joints',\n      editor: {\n        fullwidth: true\n      }\n    }\n  ],\n  'value-property': 'source',\n  help: 'scene/component/urdf'\n}\n\n@sceneComponent('urdf')\nexport class URDFObject extends GltfComponent(RectPath(Shape)) {\n  /** URDF 모델의 top-view 스냅샷 (캔버스). RealObjectURDF._onLoaded 가 캐시 hit 시 직접 세팅. */\n  declare _topViewSnapshot?: HTMLCanvasElement\n\n  /**\n   * URDF 캐시 hit 만 처리. miss 시는 RealObjectURDF.\\_onLoaded 가\n   * 캐시를 채우고 component.\\_topViewSnapshot 을 직접 세팅한다 (URDF\n   * 로더는 GLB 로더와 다르므로 mixin 의 디폴트 — RealObjectGLTF.loadGLTF\n   * 직접 호출 — 을 쓸 수 없다).\n   */\n  _ensureTopViewSnapshot() {\n    const src = this.getState('src') as string | undefined\n    if (!src) return\n\n    const cached = RealObjectURDF.getTopViewCache(src)\n    if (cached) {\n      this._topViewSnapshot = cached\n      this.invalidate()\n    }\n  }\n\n  override buildRealObject(): IRealObject | undefined {\n    return new RealObjectURDF(this)\n  }\n\n  get nature() {\n    return NATURE\n  }\n\n  // --- URDF 바인딩 API ---\n\n  /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */\n  get joints(): Record<string, URDFJointState | number> | undefined {\n    return this.getState('joints')\n  }\n\n  set joints(value: Record<string, URDFJointState | number> | undefined) {\n    this.setState('joints', value)\n  }\n\n  /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */\n  get jointMeta(): URDFJointMeta[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointMeta ?? []\n  }\n\n  get jointNames(): string[] {\n    const ro = this.realObject as RealObjectURDF | undefined\n    return ro?.jointNames ?? []\n  }\n}\n"]}

package/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.24",
+  "version": "10.0.0-beta.31",
   "type": "module",
   "main": "dist/index.js",
   "module": "dist/index.js",
@@ -66,5 +66,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "236ded8c545c4b172b2e86e4843b3221c4bf2fd8"
+  "gitHead": "fdafbd04fd083a43690be937230c7d96a3ee5da3"
 }