urdf-loader-babylonjs 0.1.0

package/umd/urdf-viewer-element.js

@@ -0,0 +1,614 @@
+(function (global, factory) {
+    typeof exports === 'object' && typeof module !== 'undefined' ? module.exports = factory(require('@babylonjs/core'), require('./URDFLoader.js')) :
+    typeof define === 'function' && define.amd ? define(['@babylonjs/core', './URDFLoader'], factory) :
+    (global = typeof globalThis !== 'undefined' ? globalThis : global || self, global.URDFViewer = factory(global.BABYLON, global.URDFLoader));
+})(this, (function (core, URDFLoader) { 'use strict';
+
+    // urdf-viewer element
+    // Loads and displays a 3D view of a URDF-formatted robot
+
+    // Events
+    // urdf-change: Fires when the URDF has finished loading and getting processed
+    // urdf-processed: Fires when the URDF has finished loading and getting processed
+    // geometry-loaded: Fires when all the geometry has been fully loaded
+    // ignore-limits-change: Fires when the 'ignore-limits' attribute changes
+    // angle-change: Fires when an angle changes
+    class URDFViewer extends HTMLElement {
+
+        static get observedAttributes() {
+
+            return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];
+
+        }
+
+        get package() { return this.getAttribute('package') || ''; }
+        set package(val) { this.setAttribute('package', val); }
+
+        get urdf() { return this.getAttribute('urdf') || ''; }
+        set urdf(val) { this.setAttribute('urdf', val); }
+
+        get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }
+        set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }
+
+        get up() { return this.getAttribute('up') || '+Z'; }
+        set up(val) { this.setAttribute('up', val); }
+
+        get displayShadow() { return this.hasAttribute('display-shadow') || false; }
+        set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }
+
+        get ambientColor() { return this.getAttribute('ambient-color') || '#8ea0a8'; }
+        set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }
+
+        get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }
+        set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }
+
+        get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }
+        set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }
+
+        get showCollision() { return this.hasAttribute('show-collision') || false; }
+        set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }
+
+        get jointValues() {
+
+            const values = {};
+            if (this.robot) {
+
+                for (const name in this.robot.joints) {
+
+                    const joint = this.robot.joints[name];
+                    values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
+
+                }
+
+            }
+
+            return values;
+
+        }
+        set jointValues(val) { this.setJointValues(val); }
+
+        get angles() {
+
+            return this.jointValues;
+
+        }
+        set angles(v) {
+
+            this.jointValues = v;
+
+        }
+
+        /* Lifecycle Functions */
+        constructor() {
+
+            super();
+
+            this._requestId = 0;
+            this._dirty = false;
+            this._loadScheduled = false;
+            this.robot = null;
+            this.loadMeshFunc = null;
+            this.urlModifierFunc = null;
+
+            // Create a canvas element for Babylon.js
+            const canvas = document.createElement('canvas');
+            this._canvas = canvas;
+
+            // Engine setup
+            const engine = new core.Engine(canvas, true, { preserveDrawingBuffer: true, stencil: true });
+            this.engine = engine;
+
+            // Scene setup
+            const scene = new core.Scene(engine);
+            scene.useRightHandedSystem = true;
+            scene.clearColor = new core.Color4(0, 0, 0, 0);
+
+            // Ambient light
+            const ambientLight = new core.HemisphericLight('ambientLight', new core.Vector3(0, 1, 0), scene);
+            const c3 = this._parseColor(this.ambientColor);
+            ambientLight.diffuse = c3;
+            ambientLight.groundColor = core.Color3.Lerp(core.Color3.Black(), c3, 0.5);
+            ambientLight.intensity = 0.5;
+
+            // Directional light
+            const dirLight = new core.DirectionalLight('dirLight', new core.Vector3(-4, -10, -1), scene);
+            dirLight.intensity = Math.PI;
+            dirLight.position = new core.Vector3(4, 10, 1);
+
+            // Shadow generator
+            this._shadowGenerator = new core.ShadowGenerator(2048, dirLight);
+            this._shadowGenerator.useBlurExponentialShadowMap = true;
+            this._shadowGenerator.bias = 0.001;
+
+            // Camera setup (ArcRotateCamera has built-in orbit controls)
+            const camera = new core.ArcRotateCamera('camera', -Math.PI / 2, Math.PI / 3, 10, core.Vector3.Zero(), scene);
+            camera.minZ = 0.1;
+            camera.maxZ = 1000;
+            camera.lowerRadiusLimit = 0.25;
+            camera.upperRadiusLimit = 50;
+            camera.wheelPrecision = 5;
+            camera.panningSensibility = 50;
+            camera.attachControl(canvas, true);
+
+            // World node for up-axis rotation
+            const world = new core.TransformNode('world', scene);
+            world.rotationQuaternion = new core.Quaternion();
+
+            // Ground plane for shadows
+            const ground = core.MeshBuilder.CreateGround('ground', { width: 400, height: 400 }, scene);
+            const groundMaterial = new core.StandardMaterial('groundMat', scene);
+            groundMaterial.diffuseColor = core.Color3.Black();
+            groundMaterial.specularColor = core.Color3.Black();
+            groundMaterial.alpha = 0.25;
+            ground.material = groundMaterial;
+            ground.receiveShadows = true;
+            ground.position.y = -0.5;
+            ground.isPickable = false;
+
+            this.scene = scene;
+            this.babylonScene = scene;
+            this.world = world;
+            this.camera = camera;
+            this.controls = camera; // camera is also the controls in Babylon.js
+            this.ground = ground;
+            this.directionalLight = dirLight;
+            this.ambientLight = ambientLight;
+
+            this._setUp(this.up);
+
+            this._collisionMaterial = new core.StandardMaterial('collisionMat', scene);
+            this._collisionMaterial.diffuseColor = new core.Color3(1.0, 0.745, 0.22);
+            this._collisionMaterial.alpha = 0.35;
+            this._collisionMaterial.transparencyMode = core.Material.MATERIAL_ALPHABLEND;
+
+            // Render loop
+            engine.runRenderLoop(() => {
+
+                if (this.parentNode) {
+
+                    this.updateSize();
+
+                    if (this._dirty || this.autoRedraw) {
+
+                        if (!this.noAutoRecenter) {
+
+                            this._updateEnvironment();
+                        }
+
+                        this._dirty = false;
+
+                    }
+
+                    scene.render();
+
+                }
+
+            });
+
+        }
+
+        _parseColor(colorStr) {
+
+            if (!colorStr) return new core.Color3(0.56, 0.63, 0.66);
+            try {
+
+                // Expand shorthand hex
+                if (colorStr.length === 4) {
+
+                    colorStr = '#' + colorStr[1] + colorStr[1] + colorStr[2] + colorStr[2] + colorStr[3] + colorStr[3];
+
+                }
+                return core.Color3.FromHexString(colorStr);
+
+            } catch {
+
+                return new core.Color3(0.56, 0.63, 0.66);
+
+            }
+
+        }
+
+        connectedCallback() {
+
+            // Add our initialize styles for the element if they haven't
+            // been added yet
+            if (!this.constructor._styletag) {
+
+                const styletag = document.createElement('style');
+                styletag.innerHTML =
+                `
+                ${ this.tagName } { display: block; }
+                ${ this.tagName } canvas {
+                    width: 100%;
+                    height: 100%;
+                }
+            `;
+                document.head.appendChild(styletag);
+                this.constructor._styletag = styletag;
+
+            }
+
+            // add the canvas
+            if (this.childElementCount === 0) {
+
+                this.appendChild(this._canvas);
+
+            }
+
+            this.updateSize();
+            requestAnimationFrame(() => this.updateSize());
+
+        }
+
+        disconnectedCallback() {
+
+            this.engine.stopRenderLoop();
+
+        }
+
+        attributeChangedCallback(attr, oldval, newval) {
+
+            this._updateCollisionVisibility();
+            if (!this.noAutoRecenter) {
+                this.recenter();
+            }
+
+            switch (attr) {
+
+                case 'package':
+                case 'urdf': {
+
+                    this._scheduleLoad();
+                    break;
+
+                }
+
+                case 'up': {
+
+                    this._setUp(this.up);
+                    break;
+
+                }
+
+                case 'ambient-color': {
+
+                    const c3 = this._parseColor(this.ambientColor);
+                    this.ambientLight.diffuse = c3;
+                    this.ambientLight.groundColor = core.Color3.Lerp(core.Color3.Black(), c3, 0.5);
+                    break;
+
+                }
+
+                case 'ignore-limits': {
+
+                    this._setIgnoreLimits(this.ignoreLimits, true);
+                    break;
+
+                }
+
+            }
+
+        }
+
+        /* Public API */
+        updateSize() {
+
+            const w = this.clientWidth;
+            const h = this.clientHeight;
+
+            if (w > 0 && h > 0) {
+
+                this._canvas.width = w * window.devicePixelRatio;
+                this._canvas.height = h * window.devicePixelRatio;
+                this.engine.resize();
+
+            }
+
+        }
+
+        redraw() {
+
+            this._dirty = true;
+        }
+
+        recenter() {
+
+            this._updateEnvironment();
+            this.redraw();
+
+        }
+
+        // Set the joint with jointName to
+        // angle in degrees
+        setJointValue(jointName, ...values) {
+
+            if (!this.robot) return;
+            if (!this.robot.joints[jointName]) return;
+
+            if (this.robot.joints[jointName].setJointValue(...values)) {
+
+                this.redraw();
+                this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
+
+            }
+
+        }
+
+        setJointValues(values) {
+
+            for (const name in values) {
+
+                if (Array.isArray(values[name])) {
+
+                    this.setJointValue(name, ...values[name]);
+
+                } else {
+
+                    this.setJointValue(name, values[name]);
+
+                }
+
+            }
+
+        }
+
+        /* Private Functions */
+        _updateEnvironment() {
+
+            const robot = this.robot;
+            if (!robot) return;
+
+            // Compute bounding info from visual meshes
+            let min = new core.Vector3(Infinity, Infinity, Infinity);
+            let max = new core.Vector3(-Infinity, -Infinity, -Infinity);
+
+            const processNode = (node) => {
+
+                if (node.getBoundingInfo && node instanceof core.Mesh && node.getTotalVertices() > 0) {
+
+                    node.computeWorldMatrix(true);
+                    const bi = node.getBoundingInfo();
+                    min = core.Vector3.Minimize(min, bi.boundingBox.minimumWorld);
+                    max = core.Vector3.Maximize(max, bi.boundingBox.maximumWorld);
+
+                }
+                if (node.getChildren) {
+
+                    node.getChildren().forEach(processNode);
+
+                }
+
+            };
+
+            robot.traverse(c => {
+                if (c.isURDFVisual) {
+
+                    processNode(c);
+
+                }
+            });
+
+            if (min.x === Infinity) return;
+
+            const center = core.Vector3.Center(min, max);
+            this.camera.target.y = center.y;
+            this.ground.position.y = min.y - 1e-3;
+
+            const dirLight = this.directionalLight;
+
+            if (this.displayShadow) {
+
+                const radius = core.Vector3.Distance(min, max) / 2;
+                dirLight.shadowMinZ = -radius * 3;
+                dirLight.shadowMaxZ = radius * 3;
+
+            }
+
+        }
+
+        _scheduleLoad() {
+
+            // if our current model is already what's being requested
+            // or has been loaded then early out
+            if (this._prevload === `${ this.package }|${ this.urdf }`) return;
+            this._prevload = `${ this.package }|${ this.urdf }`;
+
+            // if we're already waiting on a load then early out
+            if (this._loadScheduled) return;
+            this._loadScheduled = true;
+
+            if (this.robot) {
+
+                this.robot.traverse(c => c.dispose && c.dispose());
+                this.robot = null;
+
+            }
+
+            requestAnimationFrame(() => {
+
+                this._loadUrdf(this.package, this.urdf);
+                this._loadScheduled = false;
+
+            });
+
+        }
+
+        // Watch the package and urdf field and load the robot model.
+        // This should _only_ be called from _scheduleLoad because that
+        // ensures the that current robot has been removed
+        _loadUrdf(pkg, urdf) {
+
+            this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
+
+            if (urdf) {
+
+                // Keep track of this request and make
+                // sure it doesn't get overwritten by
+                // a subsequent one
+                this._requestId++;
+                const requestId = this._requestId;
+
+                const updateMaterials = mesh => {
+
+                    mesh.traverse(c => {
+
+                        if (c instanceof core.Mesh) {
+
+                            // Add to shadow generator
+                            this._shadowGenerator.addShadowCaster(c);
+                            c.receiveShadows = true;
+
+                        }
+
+                    });
+
+                };
+
+                if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {
+
+                    pkg = pkg.split(',').reduce((map, value) => {
+
+                        const split = value.split(/:/).filter(x => !!x);
+                        const pkgName = split.shift().trim();
+                        const pkgPath = split.join(':').trim();
+                        map[pkgName] = pkgPath;
+
+                        return map;
+
+                    }, {});
+                }
+
+                let robot = null;
+                const loader = new URDFLoader(this.scene);
+                loader.packages = pkg;
+                if (this.loadMeshFunc) {
+
+                    loader.loadMeshCb = this.loadMeshFunc;
+
+                }
+                loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+                loader.parseCollision = true;
+
+                loader.manager.onLoad = () => {
+
+                    // If another request has come in to load a new
+                    // robot, then ignore this one
+                    if (this._requestId !== requestId) {
+
+                        if (robot) robot.traverse(c => c.dispose && c.dispose());
+                        return;
+
+                    }
+
+                    this.robot = robot;
+                    robot.parent = this.world;
+                    updateMaterials(robot);
+
+                    this._setIgnoreLimits(this.ignoreLimits);
+                    this._updateCollisionVisibility();
+
+                    this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
+                    this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
+
+                    this.recenter();
+
+                };
+
+                loader.load(urdf, model => robot = model);
+
+            }
+
+        }
+
+        _updateCollisionVisibility() {
+
+            const showCollision = this.showCollision;
+            const collisionMaterial = this._collisionMaterial;
+            const robot = this.robot;
+
+            if (robot === null) return;
+
+            const colliders = [];
+            robot.traverse(c => {
+
+                if (c.isURDFCollider) {
+
+                    c.setEnabled(showCollision);
+                    colliders.push(c);
+
+                }
+
+            });
+
+            colliders.forEach(coll => {
+
+                coll.traverse(c => {
+
+                    if (c instanceof core.Mesh) {
+
+                        c.isPickable = false;
+                        c.material = collisionMaterial;
+
+                    }
+
+                });
+
+            });
+
+        }
+
+        // Watch the coordinate frame and update the
+        // rotation of the scene to match
+        _setUp(up) {
+
+            if (!up) up = '+Z';
+            up = up.toUpperCase();
+            const sign = up.replace(/[^-+]/g, '')[0] || '+';
+            const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
+
+            if (!this.world) return;
+
+            const PI = Math.PI;
+            const HALFPI = PI / 2;
+
+            let rx = 0, rz = 0;
+            const ry = 0;
+            if (axis === 'X') { rz = sign === '+' ? HALFPI : -HALFPI; }
+            if (axis === 'Z') { rx = sign === '+' ? -HALFPI : HALFPI; }
+            if (axis === 'Y') { rx = sign === '+' ? 0 : PI; }
+
+            this.world.rotationQuaternion = core.Quaternion.RotationYawPitchRoll(ry, rx, rz);
+
+        }
+
+        // Updates the current robot's angles to ignore
+        // joint limits or not
+        _setIgnoreLimits(ignore, dispatch = false) {
+
+            if (this.robot) {
+
+                Object
+                    .values(this.robot.joints)
+                    .forEach(joint => {
+
+                        joint.ignoreLimits = ignore;
+                        joint.setJointValue(...joint.jointValue);
+
+                    });
+
+            }
+
+            if (dispatch) {
+
+                this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
+
+            }
+
+        }
+
+    }
+
+    return URDFViewer;
+
+}));
+//# sourceMappingURL=urdf-viewer-element.js.map

package/umd/urdf-viewer-element.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"urdf-viewer-element.js","sources":["../src/urdf-viewer-element.js"],"sourcesContent":["import { Engine, Scene, ArcRotateCamera, HemisphericLight, DirectionalLight, ShadowGenerator, MeshBuilder, StandardMaterial, Color3, Color4, Vector3, Quaternion, Mesh, Material, TransformNode } from '@babylonjs/core';\nimport URDFLoader from './URDFLoader.js';\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default\nclass URDFViewer extends HTMLElement {\n\n    static get observedAttributes() {\n\n        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];\n\n    }\n\n    get package() { return this.getAttribute('package') || ''; }\n    set package(val) { this.setAttribute('package', val); }\n\n    get urdf() { return this.getAttribute('urdf') || ''; }\n    set urdf(val) { this.setAttribute('urdf', val); }\n\n    get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }\n    set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }\n\n    get up() { return this.getAttribute('up') || '+Z'; }\n    set up(val) { this.setAttribute('up', val); }\n\n    get displayShadow() { return this.hasAttribute('display-shadow') || false; }\n    set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }\n\n    get ambientColor() { return this.getAttribute('ambient-color') || '#8ea0a8'; }\n    set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }\n\n    get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }\n    set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }\n\n    get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }\n    set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }\n\n    get showCollision() { return this.hasAttribute('show-collision') || false; }\n    set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }\n\n    get jointValues() {\n\n        const values = {};\n        if (this.robot) {\n\n            for (const name in this.robot.joints) {\n\n                const joint = this.robot.joints[name];\n                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];\n\n            }\n\n        }\n\n        return values;\n\n    }\n    set jointValues(val) { this.setJointValues(val); }\n\n    get angles() {\n\n        return this.jointValues;\n\n    }\n    set angles(v) {\n\n        this.jointValues = v;\n\n    }\n\n    /* Lifecycle Functions */\n    constructor() {\n\n        super();\n\n        this._requestId = 0;\n        this._dirty = false;\n        this._loadScheduled = false;\n        this.robot = null;\n        this.loadMeshFunc = null;\n        this.urlModifierFunc = null;\n\n        // Create a canvas element for Babylon.js\n        const canvas = document.createElement('canvas');\n        this._canvas = canvas;\n\n        // Engine setup\n        const engine = new Engine(canvas, true, { preserveDrawingBuffer: true, stencil: true });\n        this.engine = engine;\n\n        // Scene setup\n        const scene = new Scene(engine);\n        scene.useRightHandedSystem = true;\n        scene.clearColor = new Color4(0, 0, 0, 0);\n\n        // Ambient light\n        const ambientLight = new HemisphericLight('ambientLight', new Vector3(0, 1, 0), scene);\n        const c3 = this._parseColor(this.ambientColor);\n        ambientLight.diffuse = c3;\n        ambientLight.groundColor = Color3.Lerp(Color3.Black(), c3, 0.5);\n        ambientLight.intensity = 0.5;\n\n        // Directional light\n        const dirLight = new DirectionalLight('dirLight', new Vector3(-4, -10, -1), scene);\n        dirLight.intensity = Math.PI;\n        dirLight.position = new Vector3(4, 10, 1);\n\n        // Shadow generator\n        this._shadowGenerator = new ShadowGenerator(2048, dirLight);\n        this._shadowGenerator.useBlurExponentialShadowMap = true;\n        this._shadowGenerator.bias = 0.001;\n\n        // Camera setup (ArcRotateCamera has built-in orbit controls)\n        const camera = new ArcRotateCamera('camera', -Math.PI / 2, Math.PI / 3, 10, Vector3.Zero(), scene);\n        camera.minZ = 0.1;\n        camera.maxZ = 1000;\n        camera.lowerRadiusLimit = 0.25;\n        camera.upperRadiusLimit = 50;\n        camera.wheelPrecision = 5;\n        camera.panningSensibility = 50;\n        camera.attachControl(canvas, true);\n\n        // World node for up-axis rotation\n        const world = new TransformNode('world', scene);\n        world.rotationQuaternion = new Quaternion();\n\n        // Ground plane for shadows\n        const ground = MeshBuilder.CreateGround('ground', { width: 400, height: 400 }, scene);\n        const groundMaterial = new StandardMaterial('groundMat', scene);\n        groundMaterial.diffuseColor = Color3.Black();\n        groundMaterial.specularColor = Color3.Black();\n        groundMaterial.alpha = 0.25;\n        ground.material = groundMaterial;\n        ground.receiveShadows = true;\n        ground.position.y = -0.5;\n        ground.isPickable = false;\n\n        this.scene = scene;\n        this.babylonScene = scene;\n        this.world = world;\n        this.camera = camera;\n        this.controls = camera; // camera is also the controls in Babylon.js\n        this.ground = ground;\n        this.directionalLight = dirLight;\n        this.ambientLight = ambientLight;\n\n        this._setUp(this.up);\n\n        this._collisionMaterial = new StandardMaterial('collisionMat', scene);\n        this._collisionMaterial.diffuseColor = new Color3(1.0, 0.745, 0.22);\n        this._collisionMaterial.alpha = 0.35;\n        this._collisionMaterial.transparencyMode = Material.MATERIAL_ALPHABLEND;\n\n        // Render loop\n        engine.runRenderLoop(() => {\n\n            if (this.parentNode) {\n\n                this.updateSize();\n\n                if (this._dirty || this.autoRedraw) {\n\n                    if (!this.noAutoRecenter) {\n\n                        this._updateEnvironment();\n                    }\n\n                    this._dirty = false;\n\n                }\n\n                scene.render();\n\n            }\n\n        });\n\n    }\n\n    _parseColor(colorStr) {\n\n        if (!colorStr) return new Color3(0.56, 0.63, 0.66);\n        try {\n\n            // Expand shorthand hex\n            if (colorStr.length === 4) {\n\n                colorStr = '#' + colorStr[1] + colorStr[1] + colorStr[2] + colorStr[2] + colorStr[3] + colorStr[3];\n\n            }\n            return Color3.FromHexString(colorStr);\n\n        } catch {\n\n            return new Color3(0.56, 0.63, 0.66);\n\n        }\n\n    }\n\n    connectedCallback() {\n\n        // Add our initialize styles for the element if they haven't\n        // been added yet\n        if (!this.constructor._styletag) {\n\n            const styletag = document.createElement('style');\n            styletag.innerHTML =\n            `\n                ${ this.tagName } { display: block; }\n                ${ this.tagName } canvas {\n                    width: 100%;\n                    height: 100%;\n                }\n            `;\n            document.head.appendChild(styletag);\n            this.constructor._styletag = styletag;\n\n        }\n\n        // add the canvas\n        if (this.childElementCount === 0) {\n\n            this.appendChild(this._canvas);\n\n        }\n\n        this.updateSize();\n        requestAnimationFrame(() => this.updateSize());\n\n    }\n\n    disconnectedCallback() {\n\n        this.engine.stopRenderLoop();\n\n    }\n\n    attributeChangedCallback(attr, oldval, newval) {\n\n        this._updateCollisionVisibility();\n        if (!this.noAutoRecenter) {\n            this.recenter();\n        }\n\n        switch (attr) {\n\n            case 'package':\n            case 'urdf': {\n\n                this._scheduleLoad();\n                break;\n\n            }\n\n            case 'up': {\n\n                this._setUp(this.up);\n                break;\n\n            }\n\n            case 'ambient-color': {\n\n                const c3 = this._parseColor(this.ambientColor);\n                this.ambientLight.diffuse = c3;\n                this.ambientLight.groundColor = Color3.Lerp(Color3.Black(), c3, 0.5);\n                break;\n\n            }\n\n            case 'ignore-limits': {\n\n                this._setIgnoreLimits(this.ignoreLimits, true);\n                break;\n\n            }\n\n        }\n\n    }\n\n    /* Public API */\n    updateSize() {\n\n        const w = this.clientWidth;\n        const h = this.clientHeight;\n\n        if (w > 0 && h > 0) {\n\n            this._canvas.width = w * window.devicePixelRatio;\n            this._canvas.height = h * window.devicePixelRatio;\n            this.engine.resize();\n\n        }\n\n    }\n\n    redraw() {\n\n        this._dirty = true;\n    }\n\n    recenter() {\n\n        this._updateEnvironment();\n        this.redraw();\n\n    }\n\n    // Set the joint with jointName to\n    // angle in degrees\n    setJointValue(jointName, ...values) {\n\n        if (!this.robot) return;\n        if (!this.robot.joints[jointName]) return;\n\n        if (this.robot.joints[jointName].setJointValue(...values)) {\n\n            this.redraw();\n            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));\n\n        }\n\n    }\n\n    setJointValues(values) {\n\n        for (const name in values) {\n\n            if (Array.isArray(values[name])) {\n\n                this.setJointValue(name, ...values[name]);\n\n            } else {\n\n                this.setJointValue(name, values[name]);\n\n            }\n\n        }\n\n    }\n\n    /* Private Functions */\n    _updateEnvironment() {\n\n        const robot = this.robot;\n        if (!robot) return;\n\n        // Compute bounding info from visual meshes\n        let min = new Vector3(Infinity, Infinity, Infinity);\n        let max = new Vector3(-Infinity, -Infinity, -Infinity);\n\n        const processNode = (node) => {\n\n            if (node.getBoundingInfo && node instanceof Mesh && node.getTotalVertices() > 0) {\n\n                node.computeWorldMatrix(true);\n                const bi = node.getBoundingInfo();\n                min = Vector3.Minimize(min, bi.boundingBox.minimumWorld);\n                max = Vector3.Maximize(max, bi.boundingBox.maximumWorld);\n\n            }\n            if (node.getChildren) {\n\n                node.getChildren().forEach(processNode);\n\n            }\n\n        };\n\n        robot.traverse(c => {\n            if (c.isURDFVisual) {\n\n                processNode(c);\n\n            }\n        });\n\n        if (min.x === Infinity) return;\n\n        const center = Vector3.Center(min, max);\n        this.camera.target.y = center.y;\n        this.ground.position.y = min.y - 1e-3;\n\n        const dirLight = this.directionalLight;\n\n        if (this.displayShadow) {\n\n            const radius = Vector3.Distance(min, max) / 2;\n            dirLight.shadowMinZ = -radius * 3;\n            dirLight.shadowMaxZ = radius * 3;\n\n        }\n\n    }\n\n    _scheduleLoad() {\n\n        // if our current model is already what's being requested\n        // or has been loaded then early out\n        if (this._prevload === `${ this.package }|${ this.urdf }`) return;\n        this._prevload = `${ this.package }|${ this.urdf }`;\n\n        // if we're already waiting on a load then early out\n        if (this._loadScheduled) return;\n        this._loadScheduled = true;\n\n        if (this.robot) {\n\n            this.robot.traverse(c => c.dispose && c.dispose());\n            this.robot = null;\n\n        }\n\n        requestAnimationFrame(() => {\n\n            this._loadUrdf(this.package, this.urdf);\n            this._loadScheduled = false;\n\n        });\n\n    }\n\n    // Watch the package and urdf field and load the robot model.\n    // This should _only_ be called from _scheduleLoad because that\n    // ensures the that current robot has been removed\n    _loadUrdf(pkg, urdf) {\n\n        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));\n\n        if (urdf) {\n\n            // Keep track of this request and make\n            // sure it doesn't get overwritten by\n            // a subsequent one\n            this._requestId++;\n            const requestId = this._requestId;\n\n            const updateMaterials = mesh => {\n\n                mesh.traverse(c => {\n\n                    if (c instanceof Mesh) {\n\n                        // Add to shadow generator\n                        this._shadowGenerator.addShadowCaster(c);\n                        c.receiveShadows = true;\n\n                    }\n\n                });\n\n            };\n\n            if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {\n\n                pkg = pkg.split(',').reduce((map, value) => {\n\n                    const split = value.split(/:/).filter(x => !!x);\n                    const pkgName = split.shift().trim();\n                    const pkgPath = split.join(':').trim();\n                    map[pkgName] = pkgPath;\n\n                    return map;\n\n                }, {});\n            }\n\n            let robot = null;\n            const loader = new URDFLoader(this.scene);\n            loader.packages = pkg;\n            if (this.loadMeshFunc) {\n\n                loader.loadMeshCb = this.loadMeshFunc;\n\n            }\n            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };\n            loader.parseCollision = true;\n\n            loader.manager.onLoad = () => {\n\n                // If another request has come in to load a new\n                // robot, then ignore this one\n                if (this._requestId !== requestId) {\n\n                    if (robot) robot.traverse(c => c.dispose && c.dispose());\n                    return;\n\n                }\n\n                this.robot = robot;\n                robot.parent = this.world;\n                updateMaterials(robot);\n\n                this._setIgnoreLimits(this.ignoreLimits);\n                this._updateCollisionVisibility();\n\n                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));\n                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));\n\n                this.recenter();\n\n            };\n\n            loader.load(urdf, model => robot = model);\n\n        }\n\n    }\n\n    _updateCollisionVisibility() {\n\n        const showCollision = this.showCollision;\n        const collisionMaterial = this._collisionMaterial;\n        const robot = this.robot;\n\n        if (robot === null) return;\n\n        const colliders = [];\n        robot.traverse(c => {\n\n            if (c.isURDFCollider) {\n\n                c.setEnabled(showCollision);\n                colliders.push(c);\n\n            }\n\n        });\n\n        colliders.forEach(coll => {\n\n            coll.traverse(c => {\n\n                if (c instanceof Mesh) {\n\n                    c.isPickable = false;\n                    c.material = collisionMaterial;\n\n                }\n\n            });\n\n        });\n\n    }\n\n    // Watch the coordinate frame and update the\n    // rotation of the scene to match\n    _setUp(up) {\n\n        if (!up) up = '+Z';\n        up = up.toUpperCase();\n        const sign = up.replace(/[^-+]/g, '')[0] || '+';\n        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';\n\n        if (!this.world) return;\n\n        const PI = Math.PI;\n        const HALFPI = PI / 2;\n\n        let rx = 0, rz = 0;\n        const ry = 0;\n        if (axis === 'X') { rz = sign === '+' ? HALFPI : -HALFPI; }\n        if (axis === 'Z') { rx = sign === '+' ? -HALFPI : HALFPI; }\n        if (axis === 'Y') { rx = sign === '+' ? 0 : PI; }\n\n        this.world.rotationQuaternion = Quaternion.RotationYawPitchRoll(ry, rx, rz);\n\n    }\n\n    // Updates the current robot's angles to ignore\n    // joint limits or not\n    _setIgnoreLimits(ignore, dispatch = false) {\n\n        if (this.robot) {\n\n            Object\n                .values(this.robot.joints)\n                .forEach(joint => {\n\n                    joint.ignoreLimits = ignore;\n                    joint.setJointValue(...joint.jointValue);\n\n                });\n\n        }\n\n        if (dispatch) {\n\n            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));\n\n        }\n\n    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