@operato/scene-urdf 9.0.0-beta.9 → 9.0.0

package/dist/urdf-controller.js

@@ -1,6 +1,7 @@
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
+import { __decorate } from "tslib";
 const NATURE = {
     mutable: false,
     resizable: true,
@@ -16,9 +17,9 @@ const NATURE = {
         }
     ]
 };
-import { Component, HTMLOverlayContainer } from '@hatiolab/things-scene';
+import { HTMLOverlayContainer, sceneComponent } from '@hatiolab/things-scene';
 import './elements/urdf-controller-element.js';
-export default class UrdfController extends HTMLOverlayContainer {
+let UrdfController = class UrdfController extends HTMLOverlayContainer {
     static get nature() {
         return NATURE;
     }
@@ -60,6 +61,9 @@ export default class UrdfController extends HTMLOverlayContainer {
         delete this._reference;
         this.state.reference = reference;
     }
-}
-Component.register('urdf-controller', UrdfController);
+};
+UrdfController = __decorate([
+    sceneComponent('urdf-controller')
+], UrdfController);
+export default UrdfController;
 //# sourceMappingURL=urdf-controller.js.map

package/dist/urdf-controller.js.map

@@ -1 +1 @@
-{"version":3,"file":"urdf-controller.js","sourceRoot":"","sources":["../src/urdf-controller.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,MAAM,MAAM,GAAoB;IAC9B,OAAO,EAAE,KAAK;IACd,SAAS,EAAE,IAAI;IACf,SAAS,EAAE,IAAI;IACf,UAAU,EAAE;QACV;YACE,IAAI,EAAE,UAAU;YAChB,KAAK,EAAE,gBAAgB;YACvB,IAAI,EAAE,WAAW;YACjB,QAAQ,EAAE;gBACR,SAAS,EAAE,aAAa;aACzB;SACF;KACF;CACF,CAAA;AAED,OAAO,EAAE,SAAS,EAAmB,oBAAoB,EAAE,MAAM,wBAAwB,CAAA;AACzF,OAAO,uCAAuC,CAAA;AAK9C,MAAM,CAAC,OAAO,OAAO,cAAe,SAAQ,oBAAoB;IAG9D,MAAM,KAAK,MAAM;QACf,OAAO,MAAM,CAAA;IACf,CAAC;IAED,gBAAgB,CAAC,UAAiC,IAAG,CAAC;IAEtD,OAAO;QACL,KAAK,CAAC,OAAO,EAAE,CAAA;IACjB,CAAC;IAED;;;;;OAKG;IACH,oBAAoB,CAAC,UAAiC;QACpD,IAAI,SAAS,GAAG,IAAI,CAAC,SAAS,CAAA;QAC9B,UAAU,CAAC,MAAM,GAAG,SAAS,CAAC,CAAC,CAAE,SAAS,CAAC,OAAkC,CAAC,CAAC,CAAC,SAAS,CAAA;IAC3F,CAAC;IAED;;;OAGG;IACH,UAAU;QACR,KAAK,CAAC,UAAU,EAAE,CAAA;IACpB,CAAC;IAED,IAAI,OAAO;QACT,OAAO,iBAAiB,CAAA;IAC1B,CAAC;IAED,IAAI,SAAS;QACX,IAAI,EAAE,SAAS,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QAC9B,IAAI,CAAC,SAAS,EAAE,CAAC;YACf,OAAM;QACR,CAAC;QAED,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE,CAAC;YACrB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,SAAS,CAAe,CAAA;QAC/D,CAAC;QAED,OAAO,IAAI,CAAC,UAAU,CAAA;IACxB,CAAC;IAED,IAAI,SAAS,CAAC,SAAS;QACrB,OAAO,IAAI,CAAC,UAAU,CAAA;QACtB,IAAI,CAAC,KAAK,CAAC,SAAS,GAAG,SAAS,CAAA;IAClC,CAAC;CACF;AAED,SAAS,CAAC,QAAQ,CAAC,iBAAiB,EAAE,cAAc,CAAC,CAAA","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'id-input',\n      label: 'urdf-reference',\n      name: 'reference',\n      property: {\n        component: 'urdf-viewer'\n      }\n    }\n  ]\n}\n\nimport { Component, ComponentNature, HTMLOverlayContainer } from '@hatiolab/things-scene'\nimport './elements/urdf-controller-element.js'\nimport URDFControllerElement from './elements/urdf-controller-element.js'\nimport URDFManipulatorElement from './elements/urdf-manipulator-element.js'\nimport UrdfViewer from './urdf-viewer.js'\n\nexport default class UrdfController extends HTMLOverlayContainer {\n  _reference?: UrdfViewer\n\n  static get nature() {\n    return NATURE\n  }\n\n  oncreate_element(controller: URDFControllerElement) {}\n\n  dispose() {\n    super.dispose()\n  }\n\n  /*\n   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,\n   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.\n   *\n   * ThingsComponent state => HTML element properties\n   */\n  setElementProperties(controller: URDFControllerElement) {\n    var reference = this.reference\n    controller.viewer = reference ? (reference.element as URDFManipulatorElement) : undefined\n  }\n\n  /*\n   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.\n   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.\n   */\n  reposition() {\n    super.reposition()\n  }\n\n  get tagName() {\n    return 'urdf-controller'\n  }\n\n  get reference() {\n    var { reference } = this.state\n    if (!reference) {\n      return\n    }\n\n    if (!this._reference) {\n      this._reference = this.root.findById(reference) as UrdfViewer\n    }\n\n    return this._reference\n  }\n\n  set reference(reference) {\n    delete this._reference\n    this.state.reference = reference\n  }\n}\n\nComponent.register('urdf-controller', UrdfController)\n"]}
+{"version":3,"file":"urdf-controller.js","sourceRoot":"","sources":["../src/urdf-controller.ts"],"names":[],"mappings":"AAAA;;GAEG;;AAEH,MAAM,MAAM,GAAoB;IAC9B,OAAO,EAAE,KAAK;IACd,SAAS,EAAE,IAAI;IACf,SAAS,EAAE,IAAI;IACf,UAAU,EAAE;QACV;YACE,IAAI,EAAE,UAAU;YAChB,KAAK,EAAE,gBAAgB;YACvB,IAAI,EAAE,WAAW;YACjB,QAAQ,EAAE;gBACR,SAAS,EAAE,aAAa;aACzB;SACF;KACF;CACF,CAAA;AAED,OAAO,EAA8B,oBAAoB,EAAE,cAAc,EAAE,MAAM,wBAAwB,CAAA;AACzG,OAAO,uCAAuC,CAAA;AAM/B,IAAM,cAAc,GAApB,MAAM,cAAe,SAAQ,oBAAoB;IAG9D,MAAM,KAAK,MAAM;QACf,OAAO,MAAM,CAAA;IACf,CAAC;IAED,gBAAgB,CAAC,UAAiC,IAAG,CAAC;IAEtD,OAAO;QACL,KAAK,CAAC,OAAO,EAAE,CAAA;IACjB,CAAC;IAED;;;;;OAKG;IACH,oBAAoB,CAAC,UAAiC;QACpD,IAAI,SAAS,GAAG,IAAI,CAAC,SAAS,CAAA;QAC9B,UAAU,CAAC,MAAM,GAAG,SAAS,CAAC,CAAC,CAAE,SAAS,CAAC,OAAkC,CAAC,CAAC,CAAC,SAAS,CAAA;IAC3F,CAAC;IAED;;;OAGG;IACH,UAAU;QACR,KAAK,CAAC,UAAU,EAAE,CAAA;IACpB,CAAC;IAED,IAAI,OAAO;QACT,OAAO,iBAAiB,CAAA;IAC1B,CAAC;IAED,IAAI,SAAS;QACX,IAAI,EAAE,SAAS,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QAC9B,IAAI,CAAC,SAAS,EAAE,CAAC;YACf,OAAM;QACR,CAAC;QAED,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE,CAAC;YACrB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,SAAS,CAAe,CAAA;QAC/D,CAAC;QAED,OAAO,IAAI,CAAC,UAAU,CAAA;IACxB,CAAC;IAED,IAAI,SAAS,CAAC,SAAS;QACrB,OAAO,IAAI,CAAC,UAAU,CAAA;QACtB,IAAI,CAAC,KAAK,CAAC,SAAS,GAAG,SAAS,CAAA;IAClC,CAAC;CACF,CAAA;AArDoB,cAAc;IADlC,cAAc,CAAC,iBAAiB,CAAC;GACb,cAAc,CAqDlC;eArDoB,cAAc","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'id-input',\n      label: 'urdf-reference',\n      name: 'reference',\n      property: {\n        component: 'urdf-viewer'\n      }\n    }\n  ]\n}\n\nimport { Component, ComponentNature, HTMLOverlayContainer, sceneComponent } from '@hatiolab/things-scene'\nimport './elements/urdf-controller-element.js'\nimport URDFControllerElement from './elements/urdf-controller-element.js'\nimport URDFManipulatorElement from './elements/urdf-manipulator-element.js'\nimport UrdfViewer from './urdf-viewer.js'\n\n@sceneComponent('urdf-controller')\nexport default class UrdfController extends HTMLOverlayContainer {\n  _reference?: UrdfViewer\n\n  static get nature() {\n    return NATURE\n  }\n\n  oncreate_element(controller: URDFControllerElement) {}\n\n  dispose() {\n    super.dispose()\n  }\n\n  /*\n   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,\n   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.\n   *\n   * ThingsComponent state => HTML element properties\n   */\n  setElementProperties(controller: URDFControllerElement) {\n    var reference = this.reference\n    controller.viewer = reference ? (reference.element as URDFManipulatorElement) : undefined\n  }\n\n  /*\n   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.\n   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.\n   */\n  reposition() {\n    super.reposition()\n  }\n\n  get tagName() {\n    return 'urdf-controller'\n  }\n\n  get reference() {\n    var { reference } = this.state\n    if (!reference) {\n      return\n    }\n\n    if (!this._reference) {\n      this._reference = this.root.findById(reference) as UrdfViewer\n    }\n\n    return this._reference\n  }\n\n  set reference(reference) {\n    delete this._reference\n    this.state.reference = reference\n  }\n}\n"]}

package/dist/urdf-viewer.js

@@ -1,7 +1,8 @@
+import { __decorate } from "tslib";
 /*
  * Copyright © HatioLab Inc. All rights reserved.
  */
-import { Component, HTMLOverlayElement } from '@hatiolab/things-scene';
+import { HTMLOverlayElement, sceneComponent } from '@hatiolab/things-scene';
 import * as THREE from 'three';
 import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js';
 import { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js';
@@ -102,7 +103,7 @@ const NATURE = {
     ],
     'value-property': 'angles'
 };
-export default class UrdfViewer extends HTMLOverlayElement {
+let UrdfViewer = class UrdfViewer extends HTMLOverlayElement {
     static get nature() {
         return NATURE;
     }
@@ -193,6 +194,9 @@ export default class UrdfViewer extends HTMLOverlayElement {
         }
         super.onchange && super.onchange(after, before);
     }
-}
-Component.register('urdf-viewer', UrdfViewer);
+};
+UrdfViewer = __decorate([
+    sceneComponent('urdf-viewer')
+], UrdfViewer);
+export default UrdfViewer;
 //# sourceMappingURL=urdf-viewer.js.map

package/dist/urdf-viewer.js.map

@@ -1 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport { Component, HTMLOverlayElement, error, Properties, ComponentNature } from '@hatiolab/things-scene'\nimport * as THREE from 'three'\nimport { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'\nimport { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js'\nimport { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js'\nimport { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js'\nimport './elements/urdf-manipulator-element.js'\nimport URDFManipulatorElement from './elements/urdf-manipulator-element.js'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'package',\n      name: 'package'\n    },\n    {\n      type: 'string',\n      label: 'urdf',\n      name: 'urdf'\n    },\n    {\n      type: 'select',\n      label: 'up',\n      name: 'up',\n      property: {\n        options: ['', '+X', '-X', '+Y', '-Y', '+Z', '-Z']\n      }\n    },\n    {\n      type: 'checkbox',\n      label: 'display-shadow',\n      name: 'displayShadow'\n    },\n    {\n      type: 'color',\n      label: 'ambient-color',\n      name: 'ambientColor'\n    },\n    {\n      type: 'color',\n      label: 'highlight-color',\n      name: 'highlightColor'\n    },\n    {\n      type: 'checkbox',\n      label: 'ignore-limits',\n      name: 'ignoreLimits'\n    },\n    {\n      type: 'checkbox',\n      label: 'no-auto-recenter',\n      name: 'noAutoRecenter'\n    },\n    {\n      type: 'checkbox',\n      label: 'disable-dragging',\n      name: 'disableDragging'\n    },\n    {\n      type: 'checkbox',\n      label: 'no-camera-control',\n      name: 'noCameraControl'\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-x',\n      name: 'initCameraPosX',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-y',\n      name: 'initCameraPosY',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-z',\n      name: 'initCameraPosZ',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    }\n  ],\n  'value-property': 'angles'\n}\n\nexport default class UrdfViewer extends HTMLOverlayElement {\n  static get nature() {\n    return NATURE\n  }\n\n  oncreate_element(element: URDFManipulatorElement) {\n    element.addEventListener('angle-change', (e: Event) => {\n      this.data = element.angles\n    })\n\n    element.loadMeshFunc = (path: string, manager: THREE.LoadingManager, done: (result: any, err?: any) => void) => {\n      const ext = path.split(/\\./g).pop()!.toLowerCase()\n      switch (ext) {\n        case 'gltf':\n        case 'glb':\n          new GLTFLoader(manager).load(\n            path,\n            result => done(result.scene),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'obj':\n          new OBJLoader(manager).load(\n            path,\n            result => done(result),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'dae':\n          new ColladaLoader(manager).load(\n            path,\n            result => done(result.scene),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'stl':\n          new STLLoader(manager).load(\n            path,\n            result => {\n              const material = new THREE.MeshPhongMaterial()\n              const mesh = new THREE.Mesh(result, material)\n              done(mesh)\n            },\n            undefined,\n            err => done(null, err)\n          )\n          break\n      }\n    }\n\n    // initialize first camera position\n    var { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state\n    element.camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)\n  }\n\n  dispose() {\n    super.dispose()\n  }\n\n  /*\n   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,\n   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.\n   *\n   * ThingsComponent state => HTML element properties\n   */\n  setElementProperties(element: URDFManipulatorElement) {\n    var {\n      package: _package,\n      urdf,\n      displayShadow,\n      ignoreLimits,\n      up,\n      ambientColor,\n      highlightColor,\n      noAutoRecenter,\n      disableDragging,\n      noCameraControl,\n      angles\n    } = this.state\n\n    element.style.pointerEvents = 'auto' //'inherit'\n\n    element.package = _package\n    element.urdf = urdf\n    element.displayShadow = displayShadow\n    element.ignoreLimits = ignoreLimits\n    element.up = up\n    element.ambientColor = ambientColor\n    element.highlightColor = highlightColor\n    element.noAutoRecenter = noAutoRecenter\n    element.disableDragging = disableDragging\n    element.controls.enabled = !noCameraControl\n    element.angles = angles\n\n    requestAnimationFrame(() => element.redraw())\n  }\n\n  /*\n   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.\n   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.\n   */\n  reposition() {\n    super.reposition()\n  }\n\n  get tagName() {\n    return 'urdf-viewer'\n  }\n\n  get angles() {\n    // return this.element.angles\n    return this.state.angles\n  }\n\n  set angles(angles) {\n    // this.element.angles = angles\n    this.setState({ angles })\n  }\n\n  get highlightColor() {\n    return this.state.highlightColor\n  }\n\n  set highlightColor(highlightColor: string) {\n    this.setState({ highlightColor })\n  }\n\n  onchange(after: Properties, before: Properties) {\n    if ('initCameraPosX' in after || 'initCameraPosY' in after || 'initCameraPosZ' in after) {\n      const { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state\n      this.element &&\n        (this.element as URDFManipulatorElement).camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)\n    }\n\n    super.onchange && super.onchange(after, before)\n  }\n}\n\nComponent.register('urdf-viewer', UrdfViewer)\n"]}
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* Copyright © HatioLab Inc. All rights reserved.\n */\nimport {\n  Component,\n  HTMLOverlayElement,\n  error,\n  Properties,\n  ComponentNature,\n  sceneComponent\n} from '@hatiolab/things-scene'\nimport * as THREE from 'three'\nimport { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'\nimport { ColladaLoader } from 'three/examples/jsm/loaders/ColladaLoader.js'\nimport { STLLoader } from 'three/examples/jsm/loaders/STLLoader.js'\nimport { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js'\nimport './elements/urdf-manipulator-element.js'\nimport URDFManipulatorElement from './elements/urdf-manipulator-element.js'\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'string',\n      label: 'package',\n      name: 'package'\n    },\n    {\n      type: 'string',\n      label: 'urdf',\n      name: 'urdf'\n    },\n    {\n      type: 'select',\n      label: 'up',\n      name: 'up',\n      property: {\n        options: ['', '+X', '-X', '+Y', '-Y', '+Z', '-Z']\n      }\n    },\n    {\n      type: 'checkbox',\n      label: 'display-shadow',\n      name: 'displayShadow'\n    },\n    {\n      type: 'color',\n      label: 'ambient-color',\n      name: 'ambientColor'\n    },\n    {\n      type: 'color',\n      label: 'highlight-color',\n      name: 'highlightColor'\n    },\n    {\n      type: 'checkbox',\n      label: 'ignore-limits',\n      name: 'ignoreLimits'\n    },\n    {\n      type: 'checkbox',\n      label: 'no-auto-recenter',\n      name: 'noAutoRecenter'\n    },\n    {\n      type: 'checkbox',\n      label: 'disable-dragging',\n      name: 'disableDragging'\n    },\n    {\n      type: 'checkbox',\n      label: 'no-camera-control',\n      name: 'noCameraControl'\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-x',\n      name: 'initCameraPosX',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-y',\n      name: 'initCameraPosY',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    },\n    {\n      type: 'range-input',\n      label: 'init-camera-pos-z',\n      name: 'initCameraPosZ',\n      placeholder: '1',\n      property: {\n        step: 0.1,\n        max: 180,\n        min: -180\n      }\n    }\n  ],\n  'value-property': 'angles'\n}\n\n@sceneComponent('urdf-viewer')\nexport default class UrdfViewer extends HTMLOverlayElement {\n  static get nature() {\n    return NATURE\n  }\n\n  oncreate_element(element: URDFManipulatorElement) {\n    element.addEventListener('angle-change', (e: Event) => {\n      this.data = element.angles\n    })\n\n    element.loadMeshFunc = (path: string, manager: THREE.LoadingManager, done: (result: any, err?: any) => void) => {\n      const ext = path.split(/\\./g).pop()!.toLowerCase()\n      switch (ext) {\n        case 'gltf':\n        case 'glb':\n          new GLTFLoader(manager).load(\n            path,\n            result => done(result.scene),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'obj':\n          new OBJLoader(manager).load(\n            path,\n            result => done(result),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'dae':\n          new ColladaLoader(manager).load(\n            path,\n            result => done(result.scene),\n            undefined,\n            err => done(null, err)\n          )\n          break\n        case 'stl':\n          new STLLoader(manager).load(\n            path,\n            result => {\n              const material = new THREE.MeshPhongMaterial()\n              const mesh = new THREE.Mesh(result, material)\n              done(mesh)\n            },\n            undefined,\n            err => done(null, err)\n          )\n          break\n      }\n    }\n\n    // initialize first camera position\n    var { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state\n    element.camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)\n  }\n\n  dispose() {\n    super.dispose()\n  }\n\n  /*\n   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,\n   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.\n   *\n   * ThingsComponent state => HTML element properties\n   */\n  setElementProperties(element: URDFManipulatorElement) {\n    var {\n      package: _package,\n      urdf,\n      displayShadow,\n      ignoreLimits,\n      up,\n      ambientColor,\n      highlightColor,\n      noAutoRecenter,\n      disableDragging,\n      noCameraControl,\n      angles\n    } = this.state\n\n    element.style.pointerEvents = 'auto' //'inherit'\n\n    element.package = _package\n    element.urdf = urdf\n    element.displayShadow = displayShadow\n    element.ignoreLimits = ignoreLimits\n    element.up = up\n    element.ambientColor = ambientColor\n    element.highlightColor = highlightColor\n    element.noAutoRecenter = noAutoRecenter\n    element.disableDragging = disableDragging\n    element.controls.enabled = !noCameraControl\n    element.angles = angles\n\n    requestAnimationFrame(() => element.redraw())\n  }\n\n  /*\n   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.\n   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.\n   */\n  reposition() {\n    super.reposition()\n  }\n\n  get tagName() {\n    return 'urdf-viewer'\n  }\n\n  get angles() {\n    // return this.element.angles\n    return this.state.angles\n  }\n\n  set angles(angles) {\n    // this.element.angles = angles\n    this.setState({ angles })\n  }\n\n  get highlightColor() {\n    return this.state.highlightColor\n  }\n\n  set highlightColor(highlightColor: string) {\n    this.setState({ highlightColor })\n  }\n\n  onchange(after: Properties, before: Properties) {\n    if ('initCameraPosX' in after || 'initCameraPosY' in after || 'initCameraPosZ' in after) {\n      const { initCameraPosX = 1, initCameraPosY = 1, initCameraPosZ = 1 } = this.state\n      this.element &&\n        (this.element as URDFManipulatorElement).camera.position.set(initCameraPosX, initCameraPosY, initCameraPosZ)\n    }\n\n    super.onchange && super.onchange(after, before)\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": "9.0.0-beta.9",
+  "version": "9.0.0",
   "type": "module",
   "main": "dist/index.js",
   "module": "dist/index.js",
@@ -28,8 +28,8 @@
     "migration": "things-factory-migration"
   },
   "dependencies": {
-    "@hatiolab/things-scene": "^9.0.0-beta",
-    "@operato/styles": "^9.0.0-beta",
+    "@hatiolab/things-scene": "^9.0.0",
+    "@operato/styles": "^9.0.0",
     "lit": "^3.1.2",
     "three": "^0.172.0",
     "urdf-loader": "^0.10.4",
@@ -65,5 +65,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "a055d01e45284ed000513e62768dcad61f926293"
+  "gitHead": "0c295810b93773e6373f96d69fe62e930d71c0cd"
 }