@operato/scene-urdf 9.1.1 → 10.0.0-beta.18

package/dist/real-object-urdf.js

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+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF (Unified Robot Description Format) 지원 RealObject.
+ * RealObjectGLTF와 동일한 캐시/레이스/placeholder 패턴을 따른다.
+ *
+ * 차이점: GLTF는 노드/애니메이션이 주된 바인딩 대상이지만, URDF는 "joint"가
+ * 1급 시민이다. state.joints에 이름→라디안(또는 prismatic의 경우 거리) 맵을
+ * 두어 외부 센서값 등을 연결할 수 있도록 한다.
+ *
+ * 좌표계: URDF는 Z-up, things-scene의 3D는 Y-up. 로드 후 루트 그룹에 1회만
+ * -PI/2 X축 회전을 적용하여 변환한다. 내부 조인트 축은 원본 그대로 유지.
+ */
+import * as THREE from 'three';
+import URDFLoader from 'urdf-loader';
+import { warn } from '@hatiolab/things-scene';
+import { RealObjectExternalModel } from '@hatiolab/things-scene';
+import { RealObjectGLTF } from '@hatiolab/things-scene';
+const X_NEG_PI_HALF = -Math.PI / 2;
+export class RealObjectURDF extends RealObjectExternalModel {
+    get _formatLabel() { return 'urdf'; }
+    get _placeholderColor() { return 0x1976d2; }
+    // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.
+    static _urdfCache = new Map();
+    // 탑뷰 스냅샷 캐시 (2D 렌더 폴백)
+    static _topViewCache = new Map();
+    /**
+     * URDF를 로드한다 (동일 URL 캐시).
+     * mesh 로더는 STL/DAE(내장) + GLB(확장)를 지원한다.
+     *
+     * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는
+     * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된
+     * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의
+     * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.
+     */
+    static loadURDF(url) {
+        let cached = RealObjectURDF._urdfCache.get(url);
+        if (!cached) {
+            cached = new Promise((resolve, reject) => {
+                const manager = new THREE.LoadingManager();
+                const loader = new URDFLoader(manager);
+                loader.loadMeshCb = ((path, mgr, done) => {
+                    if (/\.(glb|gltf)$/i.test(path)) {
+                        // GLB는 별도 시스템 — manager 추적에서 벗어나므로 명시적으로 track.
+                        mgr.itemStart(path);
+                        RealObjectGLTF.loadGLTF(path).then(gltf => { done(gltf.scene.clone()); mgr.itemEnd(path); }, err => { done(null, err); mgr.itemError(path); mgr.itemEnd(path); });
+                    }
+                    else {
+                        // STL/DAE는 urdf-loader 내장 디폴트로 폴백 (manager 자동 추적)
+                        ;
+                        loader.defaultMeshLoader(path, mgr, done);
+                    }
+                });
+                let robotResult;
+                manager.onLoad = () => {
+                    if (robotResult)
+                        resolve(robotResult);
+                    else
+                        reject(new Error('URDF load completed but no robot result'));
+                };
+                manager.onError = (failedUrl) => {
+                    // 개별 에러는 로그로만 남김 — 전체 로드는 그래도 완료되도록
+                    // (일부 mesh 실패 시 나머지라도 보이게)
+                    warn('URDFLoader: resource load error', failedUrl);
+                };
+                loader.load(url, robot => { robotResult = robot; }, undefined, err => reject(err));
+            }).catch(err => {
+                RealObjectURDF._urdfCache.delete(url);
+                throw err;
+            });
+            RealObjectURDF._urdfCache.set(url, cached);
+        }
+        return cached;
+    }
+    /** 모든 캐시 비움 (보드 전환 시 호출) */
+    static flushCache() {
+        RealObjectURDF._urdfCache.clear();
+        RealObjectURDF._topViewCache.clear();
+    }
+    static getTopViewCache(source) {
+        return RealObjectURDF._topViewCache.get(source);
+    }
+    static setTopViewCache(source, canvas) {
+        RealObjectURDF._topViewCache.set(source, canvas);
+    }
+    // --- 인스턴스 상태 ---
+    _robot;
+    // 조인트 인덱스 + 메타 (로드 후 외부에서 구독 가능)
+    _jointIndex = new Map();
+    _jointMeta = new Map();
+    // 원본 조인트 값 — reset을 위해 보존
+    _jointOriginals = new Map();
+    get robot() {
+        return this._robot;
+    }
+    /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */
+    get jointMeta() {
+        return Array.from(this._jointMeta.values());
+    }
+    get jointNames() {
+        return Array.from(this._jointIndex.keys());
+    }
+    _loadExternal(url) {
+        return RealObjectURDF.loadURDF(url);
+    }
+    _onLoaded(robot) {
+        if (this.component.state.loadError) {
+            this.component.setState({ loadError: undefined });
+        }
+        // 캐시의 robot은 공유 참조이므로 clone하여 독립 인스턴스 구성.
+        // urdf-loader의 URDFRobot는 Object3D를 상속하므로 Object3D.clone()이 안전하게 동작.
+        const cloned = robot.clone();
+        // 섀도우 캐스팅
+        cloned.traverse(child => {
+            if (child.isMesh) {
+                child.castShadow = true;
+            }
+        });
+        // clear()는 object3d.userData를 리셋하므로 pending 후 재설정.
+        this.clear();
+        this.object3d.userData.context = this;
+        this._robot = cloned;
+        // 좌표계 변환: URDF(Z-up) → three(Y-up).
+        // 사용자가 state.upAxis = 'y' 로 지정하면 변환 생략.
+        this.pivot = new THREE.Object3D();
+        const upAxis = this.component.state.upAxis;
+        if (upAxis !== 'y') {
+            this.pivot.rotation.x = X_NEG_PI_HALF;
+        }
+        // URDF는 기본 meter 단위. state.unitScale로 에디터 단위로 환산.
+        const unitScale = this._resolveUnitScale();
+        if (unitScale !== 1) {
+            this.pivot.scale.setScalar(unitScale);
+        }
+        this.pivot.add(cloned);
+        // URDF의 base_link는 관행상 z=0이 바닥(floor origin). things-scene는 center
+        // origin이므로, components3D 그룹(= -geometricOffsetY만큼 shift된 바닥 기준
+        // subgroup)에 pivot을 넣어 로봇이 컴포넌트 바닥면에 서도록 한다.
+        this.components3D.add(this.pivot);
+        // 조인트 인덱스/메타 구축
+        this._buildJointIndex(cloned);
+        // bounding box 계산 후 updateDimension으로 크기 반영
+        const box = new THREE.Box3().setFromObject(this.pivot);
+        this._objectSize = box.getSize(new THREE.Vector3());
+        this.updateDimension();
+        // 초기 joint 상태 적용
+        const jointStates = this.component.state.joints;
+        if (jointStates) {
+            this._applyJointStates(jointStates);
+        }
+        // 탑뷰 스냅샷
+        const source = this.component.state.src;
+        if (source && !RealObjectURDF._topViewCache.has(source)) {
+            try {
+                const canvas = RealObjectGLTF.renderTopView(this.pivot);
+                RealObjectURDF._topViewCache.set(source, canvas);
+                this.component._topViewSnapshot = canvas;
+            }
+            catch {
+                // 스냅샷 실패는 치명적이지 않음
+            }
+        }
+        else if (source) {
+            ;
+            this.component._topViewSnapshot = RealObjectURDF._topViewCache.get(source);
+        }
+    }
+    _resolveUnitScale() {
+        const s = this.component.state.unitScale;
+        if (typeof s === 'number' && s > 0)
+            return s;
+        // 기본: URDF meter → 에디터 mm 스케일 1000
+        return 1000;
+    }
+    /**
+     * 조인트 트리를 순회하며 인덱스와 메타를 구축한다.
+     * fixed 조인트는 조작 대상이 아니므로 메타에서 제외하되 인덱스에는 남긴다.
+     */
+    _buildJointIndex(robot) {
+        this._jointIndex.clear();
+        this._jointMeta.clear();
+        this._jointOriginals.clear();
+        const joints = robot.joints || {};
+        for (const [name, joint] of Object.entries(joints)) {
+            this._jointIndex.set(name, joint);
+            this._jointOriginals.set(name, joint.angle || 0);
+            if (joint.jointType === 'fixed')
+                continue;
+            this._jointMeta.set(name, {
+                name,
+                type: joint.jointType,
+                axis: { x: joint.axis.x, y: joint.axis.y, z: joint.axis.z },
+                limit: { ...joint.limit }
+            });
+        }
+    }
+    /**
+     * state.joints 맵을 순회하며 각 조인트 값을 적용한다.
+     * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).
+     *
+     * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.
+     * 표준 경로: invalidate → Layer.throttle_render → rAF __draw__ → trigger('redraw')
+     * → ThreeCapability.animate → renderThreeD.
+     */
+    _applyJointStates(states) {
+        if (!this._robot)
+            return;
+        let changed = false;
+        for (const [name, raw] of Object.entries(states)) {
+            const joint = this._jointIndex.get(name);
+            if (!joint || joint.jointType === 'fixed')
+                continue;
+            const value = typeof raw === 'number' ? raw : raw?.value;
+            if (typeof value !== 'number' || !isFinite(value))
+                continue;
+            joint.setJointValue(value);
+            changed = true;
+        }
+        if (changed) {
+            this.component?.invalidate?.();
+        }
+    }
+    /**
+     * 모든 조인트를 원본 값으로 복원한다.
+     */
+    _resetAllJoints() {
+        if (!this._robot)
+            return;
+        for (const [name, orig] of this._jointOriginals) {
+            const joint = this._jointIndex.get(name);
+            if (joint && joint.jointType !== 'fixed') {
+                joint.setJointValue(orig);
+            }
+        }
+    }
+    // --- 라이프사이클 ---
+    clear() {
+        this._jointIndex.clear();
+        this._jointMeta.clear();
+        this._jointOriginals.clear();
+        this._robot = undefined;
+        return super.clear();
+    }
+    updateDimension() {
+        if (!this.pivot)
+            return;
+        const { width = 1, height = 1, depth = 1 } = this.component.state;
+        const { x = 1, y = 1, z = 1 } = this._objectSize || {};
+        // URDF는 관절 기반 로봇의 비율을 유지해야 하므로 uniform scale을 적용한다.
+        // 세 축 각각의 비율 중 가장 작은 값(best-fit)을 사용해 로봇이 컴포넌트의
+        // bounding box 안에 왜곡 없이 맞춰지도록 한다.
+        const unit = this._resolveUnitScale();
+        const baseX = x || 1;
+        const baseY = y || 1;
+        const baseZ = z || 1;
+        const upAxis = this.component.state.upAxis;
+        const rotated = upAxis !== 'y';
+        const rX = width / baseX;
+        const rY = (rotated ? depth : height) / baseY;
+        const rZ = (rotated ? height : depth) / baseZ;
+        const ratio = Math.min(rX, rY, rZ);
+        this.pivot.scale.setScalar(ratio * unit);
+        this.component.invalidate();
+    }
+    onchange(after, before) {
+        super.onchange(after, before);
+        if ('src' in after) {
+            this.updateSource();
+            return;
+        }
+        if ('joints' in after) {
+            this._resetAllJoints();
+            const jointStates = after.joints;
+            if (jointStates && Object.keys(jointStates).length > 0) {
+                this._applyJointStates(jointStates);
+            }
+        }
+        if ('upAxis' in after || 'unitScale' in after) {
+            // 좌표/스케일 변경은 pivot 재구성이 필요하므로 전체 재빌드
+            this.build();
+        }
+    }
+}
+//# sourceMappingURL=real-object-urdf.js.map

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

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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'\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\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) + 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  static loadURDF(url: string): Promise<URDFRobot> {\n    let cached = RealObjectURDF._urdfCache.get(url)\n    if (!cached) {\n      cached = new Promise<URDFRobot>((resolve, reject) => {\n        const manager = new THREE.LoadingManager()\n        const loader = new URDFLoader(manager)\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 {\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(url)\n        throw err\n      })\n      RealObjectURDF._urdfCache.set(url, 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  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    return RealObjectURDF.loadURDF(url)\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    // 초기 joint 상태 적용\n    const jointStates = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (jointStates) {\n      this._applyJointStates(jointStates)\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 맵을 순회하며 각 조인트 값을 적용한다.\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   * 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._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      this._resetAllJoints()\n      const jointStates = after.joints as Record<string, URDFJointState | number> | undefined\n      if (jointStates && Object.keys(jointStates).length > 0) {\n        this._applyJointStates(jointStates)\n      }\n    }\n\n    if ('upAxis' in after || 'unitScale' in after) {\n      // 좌표/스케일 변경은 pivot 재구성이 필요하므로 전체 재빌드\n      this.build()\n    }\n  }\n}\n"]}

package/dist/templates/index.d.ts

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

package/dist/templates/index.js

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

package/dist/templates/index.js.map

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

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

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

package/dist/templates/urdf.js

@@ -0,0 +1,19 @@
+const icon = new URL('../../icons/urdf.png', import.meta.url).href;
+export default {
+    type: 'urdf',
+    description: 'urdf',
+    group: '3D',
+    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */
+    icon,
+    model: {
+        type: 'urdf',
+        left: 10,
+        top: 10,
+        width: 200,
+        height: 200,
+        depth: 500,
+        upAxis: 'z',
+        unitScale: 1000
+    }
+};
+//# sourceMappingURL=urdf.js.map

package/dist/templates/urdf.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"urdf.js","sourceRoot":"","sources":["../../src/templates/urdf.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,sBAAsB,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAElE,eAAe;IACb,IAAI,EAAE,MAAM;IACZ,WAAW,EAAE,MAAM;IACnB,KAAK,EAAE,IAAI;IACX,gGAAgG;IAChG,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;QACX,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;QACX,SAAS,EAAE,IAAI;KAChB;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf.png', import.meta.url).href\n\nexport default {\n  type: 'urdf',\n  description: 'urdf',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */\n  icon,\n  model: {\n    type: 'urdf',\n    left: 10,\n    top: 10,\n    width: 200,\n    height: 200,\n    depth: 500,\n    upAxis: 'z',\n    unitScale: 1000\n  }\n}\n"]}

package/dist/urdf-object.d.ts

@@ -0,0 +1,264 @@
+import { Shape, type ComponentNature, type Control, type IRealObject } from '@hatiolab/things-scene';
+import type { URDFJointState, URDFJointMeta } from './real-object-urdf.js';
+declare const URDFObject_base: (new (...args: any[]) => {
+    contains(x: number, y: number): boolean;
+    get path(): {
+        x: any;
+        y: any;
+    }[];
+    set path(path: {
+        x: any;
+        y: any;
+    }[]): any;
+    get anchors(): {
+        name: string;
+        position: {
+            x: any;
+            y: any;
+        };
+    }[];
+    get bounds(): any;
+    set bounds(bounds: any): any;
+    render(ctx: CanvasRenderingContext2D): void;
+    _app: any;
+    _model: any;
+    _state: any;
+    _delta: any;
+    _animation: any;
+    _animate: any;
+    _parent: any;
+    _disposed: any;
+    _textHidden: any;
+    _text_substitutor: any;
+    _value_substitutor: any;
+    _mappings: any;
+    _realObject: import("@hatiolab/things-scene").IRealObject | undefined;
+    _cachedState: any;
+    updatedAt: any;
+    fontSize: any;
+    __cache__: any;
+    created(): void;
+    added(parent: any): void;
+    removed(parent: any): void;
+    ready(): Promise<void>;
+    touch(): void;
+    clearCache(...attrs: any[]): void;
+    removeSelf(completely: any): void;
+    resetAnimation(): void;
+    dispose(): void;
+    get nature(): import("@hatiolab/things-scene").ComponentNature;
+    get disposed(): boolean;
+    isLayer(): boolean;
+    isGroup(): boolean;
+    isContainer(): this is import("@hatiolab/things-scene/dist-types/types/component.js").Container;
+    isLine(): boolean;
+    isRoot(): boolean;
+    isRootModel(): boolean;
+    is3dish(): boolean;
+    get is3dMode(): boolean;
+    isIn3DSpace(): boolean;
+    isTemplate(): boolean;
+    isHTMLElement(): boolean;
+    isConnectable(): boolean;
+    isIdentifiable(): boolean;
+    isPositionable(): boolean;
+    replaceRefids(replaceMap: any): void;
+    get(property: any): any;
+    set(props: any, propval?: any): any;
+    getState(property: any): any;
+    setState(props: any, propval?: any): any;
+    get model(): any;
+    get state(): any;
+    get hierarchy(): any;
+    get volatile(): never[];
+    _applyProps(target: any, props: any, options: any): any;
+    move(offset: {
+        x: number;
+        y: number;
+    }, ...args: boolean[]): void;
+    symmetryX(x?: number): void;
+    symmetryY(y: number): void;
+    adjustResize(bounds: import("@hatiolab/things-scene").BOUNDS, origin_bounds: import("@hatiolab/things-scene").BOUNDS, diagonal: boolean): {
+        left: any;
+        top: any;
+        width: any;
+        height: any;
+    };
+    adjustRotation(rotation: number, step: boolean): number;
+    outline(progress: number): any;
+    get center(): import("@hatiolab/things-scene").POINT;
+    set center(p: import("@hatiolab/things-scene").POINT): any;
+    get location(): import("@hatiolab/things-scene").POINT;
+    set location(l: import("@hatiolab/things-scene").POINT): any;
+    get rotate(): import("@hatiolab/things-scene").POINT;
+    set rotate(r: import("@hatiolab/things-scene").POINT): any;
+    get dimension(): import("@hatiolab/things-scene").DIMENSION;
+    set dimension(d: import("@hatiolab/things-scene").DIMENSION): any;
+    get drawPath(): import("@hatiolab/things-scene").POINT[];
+    get rotatePoint(): import("@hatiolab/things-scene").POINT;
+    get mutable(): boolean;
+    get resizable(): boolean;
+    get rotatable(): boolean;
+    buildRealObject(): import("@hatiolab/things-scene").IRealObject | undefined;
+    get realObject(): import("@hatiolab/things-scene").IRealObject | undefined;
+    draw(context?: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prerender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    postrender(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepare(resolve: (component: import("@hatiolab/things-scene").Component) => void, reject: (reason: any) => void): void;
+    prepareIf(condition: boolean): void;
+    drawText(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    drawStroke(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    drawFill(context: import("@hatiolab/things-scene").SceneRenderContext, override?: Record<string, unknown>): void;
+    get strokeStyle(): any;
+    set strokeStyle(v: any): any;
+    get fillStyle(): any;
+    set fillStyle(v: any): any;
+    get fontColor(): string;
+    set fontColor(v: string): any;
+    get rotation(): number;
+    set rotation(v: number): any;
+    get decorators(): string[];
+    get decotag(): string;
+    get hidden(): boolean;
+    set hidden(v: boolean): any;
+    get tag(): string;
+    set tag(v: string): any;
+    get appendum(): any;
+    set appendum(v: any): any;
+    defaultTextSubstitutor(): string;
+    textLines(context?: import("@hatiolab/things-scene").SceneRenderContext): any[][];
+    get font(): string;
+    get lineHeight(): number;
+    get textSubstitutor(): () => string;
+    get text(): string;
+    set text(v: string): any;
+    get textBounds(): import("@hatiolab/things-scene").BOUNDS;
+    get textRotation(): number;
+    get textHidden(): boolean;
+    set textHidden(v: boolean): any;
+    get hasTextProperty(): boolean;
+    animate(opts: import("@hatiolab/things-scene").AnimationConfig): any;
+    effect(context: import("@hatiolab/things-scene").SceneRenderContext, model: any): void;
+    serialize(...others: any[]): string;
+    trim(): void;
+    closeScene(data: any): void;
+    delta(attr?: string | object, value?: any): any;
+    invalidate(): void;
+    get value(): any;
+    set value(v: any): any;
+    get data(): any;
+    set data(v: any): any;
+    set tap(v: any): any;
+    get mappings(): any[];
+    get retention(): number;
+    get animation(): import("@hatiolab/things-scene").AnimationController | undefined;
+    get started(): boolean;
+    set started(v: boolean): any;
+    get controls(): import("@hatiolab/things-scene").Control[] | undefined;
+    findFirst(finder: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): import("@hatiolab/things-scene").Component | undefined;
+    findAll(s: string | ((c: import("@hatiolab/things-scene").Component) => boolean), ...others: any[]): any[] | undefined;
+    capture(x: number, y: number, except?: (c: import("@hatiolab/things-scene").Component) => boolean): any;
+    findAnchor(name: string): any;
+    isDescendible(container: import("@hatiolab/things-scene").Component): boolean;
+    getContext(component?: unknown): any;
+    get root(): import("@hatiolab/things-scene").Component;
+    get rootModel(): import("@hatiolab/things-scene").Component;
+    get parent(): import("@hatiolab/things-scene").Component;
+    set parent(v: import("@hatiolab/things-scene").Component): any;
+    get scalable(): boolean;
+    get stuck(): boolean;
+    get capturable(): boolean;
+    get position(): string;
+    get origin(): string;
+    get offset(): import("@hatiolab/things-scene").POINT;
+    get app(): import("@hatiolab/things-scene").ApplicationContext;
+    drawEffect(context: import("@hatiolab/things-scene").SceneRenderContext): void;
+    prepareFill(resolve: Function, reject: Function): void;
+    prepareFillIf(condition: boolean): void;
+    onchangeFill(after: Record<string, any>, before: Record<string, any>): void;
+    drawImage(context: import("@hatiolab/things-scene").SceneRenderContext, image: HTMLImageElement, left: number, top: number, width: number, height: number): void;
+    mutateBounds(logic: ((bounds: import("@hatiolab/things-scene").BOUNDS) => import("@hatiolab/things-scene").BOUNDS | void) | null, context?: any): void;
+    mutatePath(beforeLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, afterLogic: ((path: import("@hatiolab/things-scene").POINT[]) => import("@hatiolab/things-scene").POINT[] | void) | null, context?: any): void;
+    access(accessor: string): any;
+    substitute(template: string, data: any): string | undefined;
+    onchangeMappings(after: Record<string, any>, before: Record<string, any>): void;
+    onchangeData(after: Record<string, any>, before: Record<string, any>): void;
+    buildMappings(): void;
+    executeMappings(force?: boolean): void;
+    disposeMappings(): void;
+    ondropfile(transfered: FileList, files: string[]): void;
+    transcoordS2P(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordP2S(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    transcoordS2T(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2P(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordT2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2TR(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2O(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordC2S(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    transcoordS2C(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    fromParent(x: number, y: number, rp?: import("@hatiolab/things-scene").POINT): import("@hatiolab/things-scene").POINT;
+    toScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    fromScene(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toLocal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toGlobal(x: number, y: number, top?: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    toOther(x: number, y: number, target: import("@hatiolab/things-scene").Component): import("@hatiolab/things-scene").POINT;
+    on(name: string | object, callback: Function, context?: any): any;
+    off(name?: string | object, callback?: Function, context?: any): any;
+    once(name: string | object, callback: Function, context?: any): any;
+    trigger(name: string, ...args: any[]): any;
+    delegate_on(delegator: any): any;
+    delegate_off(delegator: any): any;
+    onchange(after: Record<string, any>, before: Record<string, any>): void;
+    calculateBounds?(): void;
+    oncreate_element?(element: HTMLElement): void;
+    removeComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    addComponent(component: import("@hatiolab/things-scene").Component, ghost?: boolean): void;
+    insertComponentAt(component: import("@hatiolab/things-scene").Component, index: number, ghost?: boolean): void;
+    getOverlay(component: import("@hatiolab/things-scene").Component): HTMLElement | undefined;
+    findById(id: string): import("@hatiolab/things-scene").Component | undefined;
+    findByRefid(ref: string | number): import("@hatiolab/things-scene").Component | undefined;
+    findAllById(id: string): import("@hatiolab/things-scene").Component[];
+    resize(): void;
+    fit(type?: string): void;
+    get components(): import("@hatiolab/things-scene").Component[] | undefined;
+    get layout(): any;
+    get auxOverlay(): HTMLElement | undefined;
+    get isReady(): boolean;
+    get unitScale(): number;
+    get selected(): import("@hatiolab/things-scene").Component[];
+    set selected(_v: import("@hatiolab/things-scene").Component[]): any;
+    get focused(): import("@hatiolab/things-scene").Component | null;
+    set focused(_v: import("@hatiolab/things-scene").Component | null): any;
+    get hasSameParentForAllSelected(): boolean;
+    set hasSameParentForAllSelected(_v: boolean): any;
+    get fitMode(): string | undefined;
+    set fitMode(_v: string | undefined): any;
+    get element(): HTMLElement | null;
+    set element(_v: HTMLElement | null): any;
+}) & typeof Shape;
+export declare class URDFObject extends URDFObject_base {
+    get hasTextProperty(): boolean;
+    is3dish(): boolean;
+    get controls(): Array<Control> | undefined;
+    render(context: CanvasRenderingContext2D): void;
+    ready(): Promise<void>;
+    onchange(after: Record<string, any>, before: Record<string, any>): void;
+    private _ensureTopViewSnapshot;
+    buildRealObject(): IRealObject | undefined;
+    get nature(): ComponentNature;
+    get source(): any;
+    set source(source: any);
+    set dimension(dimension: {
+        width: number;
+        height: number;
+        depth: number;
+    });
+    /** 조인트 상태 맵. 값은 숫자(라디안/거리) 또는 { value } 형식 허용. */
+    get joints(): Record<string, URDFJointState | number> | undefined;
+    set joints(value: Record<string, URDFJointState | number> | undefined);
+    /** 로드된 URDF의 조인트 메타 정보. property editor가 슬라이더 UI 생성에 사용. */
+    get jointMeta(): URDFJointMeta[];
+    get jointNames(): string[];
+}
+export {};