urdf-loader-babylonjs 0.1.2 → 0.2.1

package/README.md

@@ -213,6 +213,16 @@ constructor( scene : Scene )
 
 Constructor. Scene is the Babylon.js scene that nodes will be created in.
 
+### .onMeshLoaded
+
+```js
+onMeshLoaded : ( (mesh : AbstractMesh, originalMaterial : Material | null) => void ) | null
+```
+
+Optional hook fired once per mesh produced by the default mesh loader, right after the mesh has been created and its source material assigned (`StandardMaterial` named `stl-material` for STL imports; the glTF loader's material for `.glb`/`.gltf` imports). The consumer receives the mesh and the source material so it can extract a base color and swap `mesh.material` in place — for example, to replace every mesh with a shared or per-link `StandardMaterial` derived from the glTF `baseColorFactor`.
+
+When `onMeshLoaded` is set, URDFLoader will **not** override `mesh.material` with a `<material>` tag parsed from the URDF — the consumer's hook has final say over materials. Set to `null` (the default) to preserve the original URDF-driven material assignment.
+
 ### .load
 
 ```js

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "urdf-loader-babylonjs",
-  "version": "0.1.2",
+  "version": "0.2.1",
   "description": "URDF Loader for Babylon.js and webcomponent viewer",
   "main": "src/URDFLoader.js",
   "type": "module",

package/src/URDFLoader.js

@@ -119,6 +119,12 @@ class URDFLoader {
         this.packages = '';
         this.workingPath = '';
         this.fetchOptions = {};
+        // Optional hook: (mesh, originalMaterial) => void. Called once per
+        // mesh produced by defaultMeshLoader, after the mesh exists and its
+        // original material is assigned (StandardMaterial for STL; the glTF
+        // loader's material for GLB/GLTF). Consumers can inspect the source
+        // material (e.g. baseColor) and swap mesh.material in place.
+        this.onMeshLoaded = null;
 
     }
 
@@ -165,7 +171,11 @@ class URDFLoader {
             .then(data => {
 
                 const model = this.parse(data, this.workingPath || workingPath);
-                onComplete(model);
+                // Defer onComplete until every mesh load tracked by the
+                // LoadTracker has also finished. parse() kicks off async
+                // loadMeshCb calls that increment pending; onLoad fires when
+                // pending returns to zero after our own itemEnd below.
+                manager.onLoad = () => { onComplete(model); };
                 manager.itemEnd();
 
             })
@@ -190,8 +200,10 @@ class URDFLoader {
     parse(content, workingPath = this.workingPath) {
 
         const scene = this.scene;
+        const manager = this.manager;
         const packages = this.packages;
         const loadMeshCb = this.loadMeshCb;
+        const onMeshLoaded = this.onMeshLoaded;
         const parseVisual = this.parseVisual;
         const parseCollision = this.parseCollision;
         const linkMap = {};
@@ -599,9 +611,23 @@ class URDFLoader {
 
                             }
 
+                            // Track each mesh load on the LoadTracker so
+                            // `onLoad` fires only after all meshes have
+                            // attached. Without this the top-level
+                            // `onComplete` runs right after parse returns —
+                            // before any async STL/GLB loads finish — so
+                            // callers observe an empty robot tree and can't
+                            // populate light include-lists, selection sets,
+                            // etc. from the final mesh set.
+                            manager.itemStart();
                             loadMeshCb(filePath, scene, (obj, err) => {
 
-                                if (scene.isDisposed) return;
+                                if (scene.isDisposed) {
+
+                                    manager.itemEnd();
+                                    return;
+
+                                }
 
                                 if (err) {
 
@@ -609,7 +635,12 @@ class URDFLoader {
 
                                 } else if (obj) {
 
-                                    if (obj instanceof Mesh) {
+                                    // Skip the URDF-material override when the
+                                    // consumer has installed an onMeshLoaded
+                                    // hook — they take full responsibility for
+                                    // mesh materials (including per-primitive
+                                    // handling for multi-mesh glTF imports).
+                                    if (obj instanceof Mesh && !onMeshLoaded) {
 
                                         obj.material = material;
 
@@ -626,6 +657,8 @@ class URDFLoader {
 
                                 }
 
+                                manager.itemEnd();
+
                             });
 
                         }
@@ -707,6 +740,7 @@ class URDFLoader {
 
                         const mesh = meshes[0];
                         mesh.material = new StandardMaterial('stl-material', scene);
+                        if (this.onMeshLoaded) this.onMeshLoaded(mesh, mesh.material);
                         done(mesh);
 
                     } else {
@@ -715,6 +749,7 @@ class URDFLoader {
                         meshes.forEach(m => {
 
                             m.material = new StandardMaterial('stl-material', scene);
+                            if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);
                             m.parent = parent;
 
                         });
@@ -744,12 +779,18 @@ class URDFLoader {
 
                 if (meshes.length === 1) {
 
+                    if (this.onMeshLoaded) this.onMeshLoaded(meshes[0], meshes[0].material);
                     done(meshes[0]);
 
                 } else if (meshes.length > 1) {
 
                     const parent = new (Mesh.bind(Mesh, 'gltf-root', scene))();
-                    meshes.forEach(m => { m.parent = parent; });
+                    meshes.forEach(m => {
+
+                        if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);
+                        m.parent = parent;
+
+                    });
                     done(parent);
 
                 }

package/umd/URDFLoader.js

@@ -682,6 +682,12 @@
             this.packages = '';
             this.workingPath = '';
             this.fetchOptions = {};
+            // Optional hook: (mesh, originalMaterial) => void. Called once per
+            // mesh produced by defaultMeshLoader, after the mesh exists and its
+            // original material is assigned (StandardMaterial for STL; the glTF
+            // loader's material for GLB/GLTF). Consumers can inspect the source
+            // material (e.g. baseColor) and swap mesh.material in place.
+            this.onMeshLoaded = null;
 
         }
 
@@ -728,7 +734,11 @@
                 .then(data => {
 
                     const model = this.parse(data, this.workingPath || workingPath);
-                    onComplete(model);
+                    // Defer onComplete until every mesh load tracked by the
+                    // LoadTracker has also finished. parse() kicks off async
+                    // loadMeshCb calls that increment pending; onLoad fires when
+                    // pending returns to zero after our own itemEnd below.
+                    manager.onLoad = () => { onComplete(model); };
                     manager.itemEnd();
 
                 })
@@ -753,8 +763,10 @@
         parse(content, workingPath = this.workingPath) {
 
             const scene = this.scene;
+            const manager = this.manager;
             const packages = this.packages;
             const loadMeshCb = this.loadMeshCb;
+            const onMeshLoaded = this.onMeshLoaded;
             const parseVisual = this.parseVisual;
             const parseCollision = this.parseCollision;
             const linkMap = {};
@@ -1162,9 +1174,23 @@
 
                                 }
 
+                                // Track each mesh load on the LoadTracker so
+                                // `onLoad` fires only after all meshes have
+                                // attached. Without this the top-level
+                                // `onComplete` runs right after parse returns —
+                                // before any async STL/GLB loads finish — so
+                                // callers observe an empty robot tree and can't
+                                // populate light include-lists, selection sets,
+                                // etc. from the final mesh set.
+                                manager.itemStart();
                                 loadMeshCb(filePath, scene, (obj, err) => {
 
-                                    if (scene.isDisposed) return;
+                                    if (scene.isDisposed) {
+
+                                        manager.itemEnd();
+                                        return;
+
+                                    }
 
                                     if (err) {
 
@@ -1172,7 +1198,12 @@
 
                                     } else if (obj) {
 
-                                        if (obj instanceof core.Mesh) {
+                                        // Skip the URDF-material override when the
+                                        // consumer has installed an onMeshLoaded
+                                        // hook — they take full responsibility for
+                                        // mesh materials (including per-primitive
+                                        // handling for multi-mesh glTF imports).
+                                        if (obj instanceof core.Mesh && !onMeshLoaded) {
 
                                             obj.material = material;
 
@@ -1189,6 +1220,8 @@
 
                                     }
 
+                                    manager.itemEnd();
+
                                 });
 
                             }
@@ -1270,6 +1303,7 @@
 
                             const mesh = meshes[0];
                             mesh.material = new core.StandardMaterial('stl-material', scene);
+                            if (this.onMeshLoaded) this.onMeshLoaded(mesh, mesh.material);
                             done(mesh);
 
                         } else {
@@ -1278,6 +1312,7 @@
                             meshes.forEach(m => {
 
                                 m.material = new core.StandardMaterial('stl-material', scene);
+                                if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);
                                 m.parent = parent;
 
                             });
@@ -1307,12 +1342,18 @@
 
                     if (meshes.length === 1) {
 
+                        if (this.onMeshLoaded) this.onMeshLoaded(meshes[0], meshes[0].material);
                         done(meshes[0]);
 
                     } else if (meshes.length > 1) {
 
                         const parent = new (core.Mesh.bind(core.Mesh, 'gltf-root', scene))();
-                        meshes.forEach(m => { m.parent = parent; });
+                        meshes.forEach(m => {
+
+                            if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);
+                            m.parent = parent;
+
+                        });
                         done(parent);
 
                     }

package/umd/URDFLoader.js.map

@@ -1 +1 @@
-{"version":3,"file":"URDFLoader.js","sources":["../src/URDFClasses.js","../src/URDFLoader.js"],"sourcesContent":["import { TransformNode, Vector3, Quaternion, Matrix } from '@babylonjs/core';\n\nconst _tempAxis = new Vector3();\nconst _tempQuat = new Quaternion();\nconst _tempQuat2 = new Quaternion();\nconst _tempScale = new Vector3(1.0, 1.0, 1.0);\nconst _tempPosition = new Vector3();\nconst _tempMatrix = new Matrix();\nconst _tempOrigMatrix = new Matrix();\n\nclass URDFBase extends TransformNode {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.rotationQuaternion = new Quaternion();\n        this.urdfNode = null;\n        this.urdfName = '';\n\n    }\n\n    // Depth-first traverse matching Three.js behavior\n    traverse(callback) {\n\n        callback(this);\n        for (const child of this.getChildren()) {\n\n            if (child.traverse) {\n\n                child.traverse(callback);\n\n            } else {\n\n                callback(child);\n\n            }\n\n        }\n\n    }\n\n    copy(source, recursive) {\n\n        this.urdfNode = source.urdfNode;\n        this.urdfName = source.urdfName;\n\n        this.name = source.name;\n        this.position.copyFrom(source.position);\n        if (source.rotationQuaternion) {\n\n            if (!this.rotationQuaternion) {\n\n                this.rotationQuaternion = new Quaternion();\n\n            }\n            this.rotationQuaternion.copyFrom(source.rotationQuaternion);\n\n        }\n        this.scaling.copyFrom(source.scaling);\n\n        if (recursive) {\n\n            const children = source.getChildren();\n            for (const child of children) {\n\n                let clonedChild;\n                if (child._clone && child instanceof URDFBase) {\n\n                    clonedChild = child._clone();\n\n                } else if (child.clone) {\n\n                    // For non-URDF nodes (e.g., Babylon.js Mesh), use native clone\n                    clonedChild = child.clone(child.name);\n\n                }\n                if (clonedChild) {\n\n                    clonedChild.parent = this;\n\n                }\n\n            }\n\n        }\n\n        return this;\n\n    }\n\n    clone(name, newParent) {\n\n        const cloned = this._clone();\n        if (newParent) {\n\n            cloned.parent = newParent;\n\n        }\n        return cloned;\n\n    }\n\n    _clone() {\n\n        const cloned = new this.constructor(this.name, this.getScene());\n        cloned.copy(this, true);\n        return cloned;\n\n    }\n\n}\n\nclass URDFCollider extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFCollider = true;\n        this.type = 'URDFCollider';\n\n    }\n\n}\n\nclass URDFVisual extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFVisual = true;\n        this.type = 'URDFVisual';\n\n    }\n\n}\n\nclass URDFLink extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFLink = true;\n        this.type = 'URDFLink';\n\n    }\n\n}\n\nclass URDFJoint extends URDFBase {\n\n    get jointType() {\n\n        return this._jointType;\n\n    }\n\n    set jointType(v) {\n\n        if (this.jointType === v) return;\n        this._jointType = v;\n        switch (v) {\n\n            case 'fixed':\n                this.jointValue = [];\n                break;\n\n            case 'continuous':\n            case 'revolute':\n            case 'prismatic':\n                this.jointValue = new Array(1).fill(0);\n                break;\n\n            case 'planar':\n                // Planar joints are, 3dof: position XY and rotation Z.\n                this.jointValue = new Array(3).fill(0);\n                this.axis = new Vector3(0, 0, 1);\n                break;\n\n            case 'floating':\n                this.jointValue = new Array(6).fill(0);\n                break;\n\n        }\n\n    }\n\n    get angle() {\n\n        return this.jointValue[0];\n\n    }\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n\n        this.isURDFJoint = true;\n        this.type = 'URDFJoint';\n\n        this.jointValue = null;\n        this.jointType = 'fixed';\n        this.axis = new Vector3(1, 0, 0);\n        this.limit = { lower: 0, upper: 0 };\n        this.ignoreLimits = false;\n\n        this.origPosition = null;\n        this.origQuaternion = null;\n\n        this.mimicJoints = [];\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.jointType = source.jointType;\n        this.axis = source.axis.clone();\n        this.limit.lower = source.limit.lower;\n        this.limit.upper = source.limit.upper;\n        this.ignoreLimits = false;\n\n        this.jointValue = [...source.jointValue];\n\n        this.origPosition = source.origPosition ? source.origPosition.clone() : null;\n        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;\n\n        this.mimicJoints = [...source.mimicJoints];\n\n        return this;\n\n    }\n\n    /* Public Functions */\n    /**\n     * @param {...number|null} values The joint value components to set, optionally null for no-op\n     * @returns {boolean} Whether the invocation of this function resulted in an actual change to the joint value\n     */\n    setJointValue(...values) {\n\n        // Parse all incoming values into numbers except null, which we treat as a no-op for that value component.\n        values = values.map(v => v === null ? null : parseFloat(v));\n\n        if (!this.origPosition || !this.origQuaternion) {\n\n            this.origPosition = this.position.clone();\n            this.origQuaternion = this.rotationQuaternion.clone();\n\n        }\n\n        let didUpdate = false;\n\n        this.mimicJoints.forEach(joint => {\n\n            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;\n\n        });\n\n        switch (this.jointType) {\n\n            case 'fixed': {\n\n                return didUpdate;\n\n            }\n            case 'continuous':\n            case 'revolute': {\n\n                let angle = values[0];\n                if (angle == null) return didUpdate;\n                if (angle === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits && this.jointType === 'revolute') {\n\n                    angle = Math.min(this.limit.upper, angle);\n                    angle = Math.max(this.limit.lower, angle);\n\n                }\n\n                // Three.js: this.quaternion.setFromAxisAngle(this.axis, angle).premultiply(this.origQuaternion);\n                // premultiply(q) means result = q * this\n                // So: result = origQuaternion * RotationAxis(axis, angle)\n                const rotQuat = Quaternion.RotationAxis(this.axis, angle);\n                this.origQuaternion.multiplyToRef(rotQuat, this.rotationQuaternion);\n\n                if (this.jointValue[0] !== angle) {\n\n                    this.jointValue[0] = angle;\n                    this.computeWorldMatrix(true);\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'prismatic': {\n\n                let pos = values[0];\n                if (pos == null) return didUpdate;\n                if (pos === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits) {\n\n                    pos = Math.min(this.limit.upper, pos);\n                    pos = Math.max(this.limit.lower, pos);\n\n                }\n\n                this.position.copyFrom(this.origPosition);\n                // Rotate axis by the original rotation quaternion\n                const rotMatrix = new Matrix();\n                Matrix.FromQuaternionToRef(this.origQuaternion, rotMatrix);\n                Vector3.TransformNormalToRef(this.axis, rotMatrix, _tempAxis);\n                this.position.addInPlace(_tempAxis.scale(pos));\n\n                if (this.jointValue[0] !== pos) {\n\n                    this.jointValue[0] = pos;\n                    this.computeWorldMatrix(true);\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'floating': {\n\n                // no-op if all values are identical to existing value or are null\n                if (this.jointValue.every((value, index) => values[index] === value || values[index] === null)) return didUpdate;\n                // Floating joints have six degrees of freedom: X, Y, Z, R, P, Y.\n                this.jointValue[0] = values[0] !== null ? values[0] : this.jointValue[0];\n                this.jointValue[1] = values[1] !== null ? values[1] : this.jointValue[1];\n                this.jointValue[2] = values[2] !== null ? values[2] : this.jointValue[2];\n                this.jointValue[3] = values[3] !== null ? values[3] : this.jointValue[3];\n                this.jointValue[4] = values[4] !== null ? values[4] : this.jointValue[4];\n                this.jointValue[5] = values[5] !== null ? values[5] : this.jointValue[5];\n\n                // Compose transform of joint origin and transform due to joint values\n                // Three.js: Matrix4.compose(pos, quat, scale) -> Babylon: Matrix.Compose(scale, quat, pos)\n                Matrix.ComposeToRef(_tempScale, this.origQuaternion, this.origPosition, _tempOrigMatrix);\n\n                // Three.js Euler('XYZ') -> compose quaternion from axis rotations\n                // XYZ intrinsic = Qz * Qy * Qx\n                const qx = Quaternion.RotationAxis(new Vector3(1, 0, 0), this.jointValue[3]);\n                const qy = Quaternion.RotationAxis(new Vector3(0, 1, 0), this.jointValue[4]);\n                const qz = Quaternion.RotationAxis(new Vector3(0, 0, 1), this.jointValue[5]);\n                // XYZ order: apply X first, then Y, then Z -> qz * qy * qx\n                qz.multiplyToRef(qy, _tempQuat);\n                _tempQuat.multiplyToRef(qx, _tempQuat2);\n\n                _tempPosition.set(this.jointValue[0], this.jointValue[1], this.jointValue[2]);\n                Matrix.ComposeToRef(_tempScale, _tempQuat2, _tempPosition, _tempMatrix);\n\n                // Three.js: _tempOrigTransform.premultiply(_tempTransform) means _tempTransform * _tempOrigTransform\n                _tempMatrix.multiplyToRef(_tempOrigMatrix, _tempOrigMatrix);\n\n                // Decompose: Babylon decompose(scale, rotation, translation)\n                _tempOrigMatrix.decompose(_tempScale, _tempQuat, _tempPosition);\n                this.position.copyFrom(_tempPosition);\n                this.rotationQuaternion.copyFrom(_tempQuat);\n\n                // Reset temp scale\n                _tempScale.set(1, 1, 1);\n\n                this.computeWorldMatrix(true);\n                return true;\n            }\n\n            case 'planar': {\n\n                // no-op if all values are identical to existing value or are null\n                if (this.jointValue.every((value, index) => values[index] === value || values[index] === null)) return didUpdate;\n\n                this.jointValue[0] = values[0] !== null ? values[0] : this.jointValue[0];\n                this.jointValue[1] = values[1] !== null ? values[1] : this.jointValue[1];\n                this.jointValue[2] = values[2] !== null ? values[2] : this.jointValue[2];\n\n                // Compose transform of joint origin and transform due to joint values\n                Matrix.ComposeToRef(_tempScale, this.origQuaternion, this.origPosition, _tempOrigMatrix);\n                const axisQuat = Quaternion.RotationAxis(this.axis, this.jointValue[2]);\n                _tempPosition.set(this.jointValue[0], this.jointValue[1], 0.0);\n                Matrix.ComposeToRef(_tempScale, axisQuat, _tempPosition, _tempMatrix);\n\n                // Calculate new transform: premultiply means _tempTransform * _tempOrigTransform\n                _tempMatrix.multiplyToRef(_tempOrigMatrix, _tempOrigMatrix);\n\n                _tempOrigMatrix.decompose(_tempScale, _tempQuat, _tempPosition);\n                this.position.copyFrom(_tempPosition);\n                this.rotationQuaternion.copyFrom(_tempQuat);\n\n                // Reset temp scale\n                _tempScale.set(1, 1, 1);\n\n                this.computeWorldMatrix(true);\n                return true;\n            }\n\n        }\n\n        return didUpdate;\n\n    }\n\n}\n\nclass URDFMimicJoint extends URDFJoint {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.type = 'URDFMimicJoint';\n        this.mimicJoint = null;\n        this.offset = 0;\n        this.multiplier = 1;\n\n    }\n\n    updateFromMimickedJoint(...values) {\n\n        const modifiedValues = values.map(x => x * this.multiplier + this.offset);\n        return super.setJointValue(...modifiedValues);\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.mimicJoint = source.mimicJoint;\n        this.offset = source.offset;\n        this.multiplier = source.multiplier;\n\n        return this;\n\n    }\n\n}\n\nclass URDFRobot extends URDFLink {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFRobot = true;\n        this.urdfNode = null;\n\n        this.urdfRobotNode = null;\n        this.robotName = null;\n\n        this.links = null;\n        this.joints = null;\n        this.colliders = null;\n        this.visual = null;\n        this.frames = null;\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfRobotNode = source.urdfRobotNode;\n        this.robotName = source.robotName;\n\n        this.links = {};\n        this.joints = {};\n        this.colliders = {};\n        this.visual = {};\n\n        this.traverse(c => {\n\n            if (c.isURDFJoint && c.urdfName in source.joints) {\n\n                this.joints[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFLink && c.urdfName in source.links) {\n\n                this.links[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFCollider && c.urdfName in source.colliders) {\n\n                this.colliders[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFVisual && c.urdfName in source.visual) {\n\n                this.visual[c.urdfName] = c;\n\n            }\n\n        });\n\n        // Repair mimic joint references once we've re-accumulated all our joint data\n        for (const joint in this.joints) {\n            this.joints[joint].mimicJoints = this.joints[joint].mimicJoints.map((mimicJoint) => this.joints[mimicJoint.name]);\n        }\n\n        this.frames = {\n            ...this.colliders,\n            ...this.visual,\n            ...this.links,\n            ...this.joints,\n        };\n\n        return this;\n\n    }\n\n    getFrame(name) {\n\n        return this.frames[name];\n\n    }\n\n    setJointValue(jointName, ...angle) {\n\n        const joint = this.joints[jointName];\n        if (joint) {\n\n            return joint.setJointValue(...angle);\n\n        }\n\n        return false;\n    }\n\n    setJointValues(values) {\n\n        let didChange = false;\n        for (const name in values) {\n\n            const value = values[name];\n            if (Array.isArray(value)) {\n\n                didChange = this.setJointValue(name, ...value) || didChange;\n\n            } else {\n\n                didChange = this.setJointValue(name, value) || didChange;\n\n            }\n\n        }\n\n        return didChange;\n\n    }\n\n}\n\nexport { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };\n","import { StandardMaterial, Color3, Texture, MeshBuilder, Mesh, Vector3, Quaternion, Material, SceneLoader } from '@babylonjs/core';\nimport { STLFileLoader } from '@babylonjs/loaders/STL/stlFileLoader.js';\nimport '@babylonjs/loaders/glTF';\n\n// Prevent Y/Z axis swap — URDF coordinates should be used as-is in a right-handed scene\nSTLFileLoader.DO_NOT_ALTER_FILE_COORDINATES = true;\nimport { URDFRobot, URDFJoint, URDFLink, URDFCollider, URDFVisual, URDFMimicJoint } from './URDFClasses.js';\n\n/*\nReference coordinate frames for Babylon.js and ROS.\nBabylon.js is LEFT-handed, ROS/URDF is RIGHT-handed.\nTo handle this, apply scaling (1, 1, -1) on the robot root node\n(handled in the viewer component).\n\nBabylon.js\n   Y\n   |\n   |\n   .-----X\n    \\\n     Z (into screen, left-handed)\n\nROS URDF\n       Z\n       |   X\n       | /\n Y-----.\n\n*/\n\nconst tempQuaternion = new Quaternion();\n\n// Simple load tracker replacing THREE.LoadingManager\nclass LoadTracker {\n\n    constructor() {\n\n        this._pending = 0;\n        this.onLoad = null;\n\n    }\n\n    itemStart() {\n\n        this._pending++;\n\n    }\n\n    itemEnd() {\n\n        this._pending--;\n        if (this._pending === 0 && this.onLoad) {\n\n            this.onLoad();\n\n        }\n\n    }\n\n    itemError(url) {\n\n        console.error(`URDFLoader: Failed to load: ${ url }`);\n\n    }\n\n}\n\n// take a vector \"x y z\" and process it into\n// an array [x, y, z]\nfunction processTuple(val) {\n\n    if (!val) return [0, 0, 0];\n    return val.trim().split(/\\s+/g).map(num => parseFloat(num));\n\n}\n\n// Extract the base URL from a full URL path\nfunction extractUrlBase(url) {\n\n    return url.substring(0, url.lastIndexOf('/') + 1);\n\n}\n\n// applies a rotation to a Babylon.js node in URDF order\nfunction applyRotation(obj, rpy, additive = false) {\n\n    // if additive is true the rotation is applied in\n    // addition to the existing rotation\n    if (!additive) {\n\n        obj.rotationQuaternion = new Quaternion();\n\n    }\n\n    // URDF uses ZYX Euler order (intrinsic)\n    // ZYX intrinsic = Qz * Qy * Qx\n    const qx = Quaternion.RotationAxis(new Vector3(1, 0, 0), rpy[0]);\n    const qy = Quaternion.RotationAxis(new Vector3(0, 1, 0), rpy[1]);\n    const qz = Quaternion.RotationAxis(new Vector3(0, 0, 1), rpy[2]);\n    const rpyQuat = qz.multiply(qy).multiply(qx);\n\n    rpyQuat.multiplyToRef(obj.rotationQuaternion, tempQuaternion);\n    obj.rotationQuaternion.copyFrom(tempQuaternion);\n\n}\n\n/* URDFLoader Class */\n// Loads and reads a URDF file into a Babylon.js TransformNode format\nexport default\nclass URDFLoader {\n\n    constructor(scene) {\n\n        this.scene = scene || null;\n        this.manager = new LoadTracker();\n        this.loadMeshCb = this.defaultMeshLoader.bind(this);\n        this.parseVisual = true;\n        this.parseCollision = false;\n        this.packages = '';\n        this.workingPath = '';\n        this.fetchOptions = {};\n\n    }\n\n    /* Public API */\n    loadAsync(urdf) {\n\n        return new Promise((resolve, reject) => {\n\n            this.load(urdf, resolve, null, reject);\n\n        });\n\n    }\n\n    // urdf:    The path to the URDF within the package OR absolute\n    // onComplete:      Callback that is passed the model once loaded\n    load(urdf, onComplete, onProgress, onError) {\n\n        const manager = this.manager;\n        const workingPath = extractUrlBase(urdf);\n        const urdfPath = urdf;\n\n        manager.itemStart();\n\n        fetch(urdfPath, this.fetchOptions)\n            .then(res => {\n\n                if (res.ok) {\n\n                    if (onProgress) {\n\n                        onProgress(null);\n\n                    }\n                    return res.text();\n\n                } else {\n\n                    throw new Error(`URDFLoader: Failed to load url '${ urdfPath }' with error code ${ res.status } : ${ res.statusText }.`);\n\n                }\n\n            })\n            .then(data => {\n\n                const model = this.parse(data, this.workingPath || workingPath);\n                onComplete(model);\n                manager.itemEnd();\n\n            })\n            .catch(e => {\n\n                if (onError) {\n\n                    onError(e);\n\n                } else {\n\n                    console.error('URDFLoader: Error loading file.', e);\n\n                }\n                manager.itemError(urdfPath);\n                manager.itemEnd();\n\n            });\n\n    }\n\n    parse(content, workingPath = this.workingPath) {\n\n        const scene = this.scene;\n        const packages = this.packages;\n        const loadMeshCb = this.loadMeshCb;\n        const parseVisual = this.parseVisual;\n        const parseCollision = this.parseCollision;\n        const linkMap = {};\n        const jointMap = {};\n        const materialMap = {};\n\n        // Resolves the path of mesh files\n        function resolvePath(path) {\n\n            if (!/^package:\\/\\//.test(path)) {\n\n                return workingPath ? workingPath + path : path;\n\n            }\n\n            // Remove \"package://\" keyword and split meshPath at the first slash\n            const [targetPkg, relPath] = path.replace(/^package:\\/\\//, '').split(/\\/(.+)/);\n\n            if (typeof packages === 'string') {\n\n                // \"pkg\" is one single package\n                if (packages.endsWith(targetPkg)) {\n\n                    // \"pkg\" is the target package\n                    return packages + '/' + relPath;\n\n                } else {\n\n                    // Assume \"pkg\" is the target package's parent directory\n                    return packages + '/' + targetPkg + '/' + relPath;\n\n                }\n\n            } else if (packages instanceof Function) {\n\n                return packages(targetPkg) + '/' + relPath;\n\n            } else if (typeof packages === 'object') {\n\n                // \"pkg\" is a map of packages\n                if (targetPkg in packages) {\n\n                    return packages[targetPkg] + '/' + relPath;\n\n                } else {\n\n                    console.error(`URDFLoader : ${ targetPkg } not found in provided package list.`);\n                    return null;\n\n                }\n\n            }\n\n        }\n\n        // Process the URDF text format\n        function processUrdf(data) {\n\n            let children;\n            if (data instanceof Document) {\n\n                children = [ ...data.children ];\n\n            } else if (data instanceof Element) {\n\n                children = [ data ];\n\n            } else {\n\n                const parser = new DOMParser();\n                const urdf = parser.parseFromString(data, 'text/xml');\n                children = [ ...urdf.children ];\n\n            }\n\n            const robotNode = children.filter(c => c.nodeName === 'robot').pop();\n            return processRobot(robotNode);\n\n        }\n\n        // Process the <robot> node\n        function processRobot(robot) {\n\n            const robotNodes = [ ...robot.children ];\n            const links = robotNodes.filter(c => c.nodeName.toLowerCase() === 'link');\n            const joints = robotNodes.filter(c => c.nodeName.toLowerCase() === 'joint');\n            const materials = robotNodes.filter(c => c.nodeName.toLowerCase() === 'material');\n            const obj = new URDFRobot('', scene);\n\n            obj.robotName = robot.getAttribute('name');\n            obj.urdfRobotNode = robot;\n\n            // Create the <material> map\n            materials.forEach(m => {\n\n                const name = m.getAttribute('name');\n                materialMap[name] = processMaterial(m);\n\n            });\n\n            // Create the <link> map\n            const visualMap = {};\n            const colliderMap = {};\n            links.forEach(l => {\n\n                const name = l.getAttribute('name');\n                const isRoot = robot.querySelector(`child[link=\"${ name }\"]`) === null;\n                linkMap[name] = processLink(l, visualMap, colliderMap, isRoot ? obj : null);\n\n            });\n\n            // Create the <joint> map\n            joints.forEach(j => {\n\n                const name = j.getAttribute('name');\n                jointMap[name] = processJoint(j);\n\n            });\n\n            obj.joints = jointMap;\n            obj.links = linkMap;\n            obj.colliders = colliderMap;\n            obj.visual = visualMap;\n\n            // Link up mimic joints\n            const jointList = Object.values(jointMap);\n            jointList.forEach(j => {\n\n                if (j instanceof URDFMimicJoint) {\n\n                    jointMap[j.mimicJoint].mimicJoints.push(j);\n\n                }\n\n            });\n\n            // Detect infinite loops of mimic joints\n            jointList.forEach(j => {\n\n                const uniqueJoints = new Set();\n                const iterFunction = joint => {\n\n                    if (uniqueJoints.has(joint)) {\n\n                        throw new Error('URDFLoader: Detected an infinite loop of mimic joints.');\n\n                    }\n\n                    uniqueJoints.add(joint);\n                    joint.mimicJoints.forEach(j => {\n\n                        iterFunction(j);\n\n                    });\n\n                };\n\n                iterFunction(j);\n            });\n\n            obj.frames = {\n                ...colliderMap,\n                ...visualMap,\n                ...linkMap,\n                ...jointMap,\n            };\n\n            return obj;\n\n        }\n\n        // Process joint nodes and parent them\n        function processJoint(joint) {\n\n            const children = [ ...joint.children ];\n            const jointType = joint.getAttribute('type');\n\n            let obj;\n\n            const mimicTag = children.find(n => n.nodeName.toLowerCase() === 'mimic');\n            if (mimicTag) {\n\n                obj = new URDFMimicJoint('', scene);\n                obj.mimicJoint = mimicTag.getAttribute('joint');\n                obj.multiplier = parseFloat(mimicTag.getAttribute('multiplier') || 1.0);\n                obj.offset = parseFloat(mimicTag.getAttribute('offset') || 0.0);\n\n            } else {\n\n                obj = new URDFJoint('', scene);\n\n            }\n\n            obj.urdfNode = joint;\n            obj.name = joint.getAttribute('name');\n            obj.urdfName = obj.name;\n            obj.jointType = jointType;\n\n            let parent = null;\n            let child = null;\n            let xyz = [0, 0, 0];\n            let rpy = [0, 0, 0];\n\n            // Extract the attributes\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'origin') {\n\n                    xyz = processTuple(n.getAttribute('xyz'));\n                    rpy = processTuple(n.getAttribute('rpy'));\n\n                } else if (type === 'child') {\n\n                    child = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'parent') {\n\n                    parent = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'limit') {\n\n                    obj.limit.lower = parseFloat(n.getAttribute('lower') || obj.limit.lower);\n                    obj.limit.upper = parseFloat(n.getAttribute('upper') || obj.limit.upper);\n\n                }\n            });\n\n            // Join the links - Babylon.js uses child.parent = parentNode\n            obj.parent = parent;\n            child.parent = obj;\n            applyRotation(obj, rpy);\n            obj.position.set(xyz[0], xyz[1], xyz[2]);\n\n            // Set up the rotate function\n            const axisNode = children.filter(n => n.nodeName.toLowerCase() === 'axis')[0];\n\n            if (axisNode) {\n\n                const axisXYZ = axisNode.getAttribute('xyz').split(/\\s+/g).map(num => parseFloat(num));\n                obj.axis = new Vector3(axisXYZ[0], axisXYZ[1], axisXYZ[2]);\n                obj.axis.normalize();\n\n            }\n\n            return obj;\n\n        }\n\n        // Process the <link> nodes\n        function processLink(link, visualMap, colliderMap, target = null) {\n\n            if (target === null) {\n\n                target = new URDFLink('', scene);\n\n            }\n\n            const children = [ ...link.children ];\n            target.name = link.getAttribute('name');\n            target.urdfName = target.name;\n            target.urdfNode = link;\n\n            if (parseVisual) {\n\n                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');\n                visualNodes.forEach(vn => {\n\n                    const v = processLinkElement(vn, materialMap);\n                    v.parent = target;\n\n                    if (vn.hasAttribute('name')) {\n\n                        const name = vn.getAttribute('name');\n                        v.name = name;\n                        v.urdfName = name;\n                        visualMap[name] = v;\n\n                    }\n\n                });\n\n            }\n\n            if (parseCollision) {\n\n                const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');\n                collisionNodes.forEach(cn => {\n\n                    const c = processLinkElement(cn);\n                    c.parent = target;\n\n                    if (cn.hasAttribute('name')) {\n\n                        const name = cn.getAttribute('name');\n                        c.name = name;\n                        c.urdfName = name;\n                        colliderMap[name] = c;\n\n                    }\n\n                });\n\n            }\n\n            return target;\n\n        }\n\n        function processMaterial(node) {\n\n            const matNodes = [ ...node.children ];\n            const material = new StandardMaterial(node.getAttribute('name') || '', scene);\n\n            material.name = node.getAttribute('name') || '';\n            matNodes.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'color') {\n\n                    const rgba =\n                        n\n                            .getAttribute('rgba')\n                            .split(/\\s/g)\n                            .map(v => parseFloat(v));\n\n                    material.diffuseColor = new Color3(rgba[0], rgba[1], rgba[2]);\n                    material.alpha = rgba[3];\n                    if (rgba[3] < 1) {\n\n                        material.transparencyMode = Material.MATERIAL_ALPHABLEND;\n                        material.disableDepthWrite = true;\n\n                    }\n\n                } else if (type === 'texture') {\n\n                    // The URDF spec does not require that the <texture/> tag include\n                    // a filename attribute so skip loading the texture if not provided.\n                    const filename = n.getAttribute('filename');\n                    if (filename) {\n\n                        const filePath = resolvePath(filename);\n                        material.diffuseTexture = new Texture(filePath, scene);\n\n                    }\n\n                }\n            });\n\n            return material;\n\n        }\n\n        // Process the visual and collision nodes into meshes\n        function processLinkElement(vn, materialMap = {}) {\n\n            const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';\n            const children = [ ...vn.children ];\n            let material = null;\n\n            // get the material first\n            const materialNode = children.filter(n => n.nodeName.toLowerCase() === 'material')[0];\n            if (materialNode) {\n\n                const name = materialNode.getAttribute('name');\n                if (name && name in materialMap) {\n\n                    material = materialMap[name];\n\n                } else {\n\n                    material = processMaterial(materialNode);\n\n                }\n\n            } else {\n\n                material = new StandardMaterial('', scene);\n\n            }\n\n            const group = isCollisionNode ? new URDFCollider('', scene) : new URDFVisual('', scene);\n            group.urdfNode = vn;\n\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'geometry') {\n\n                    const geoType = n.children[0].nodeName.toLowerCase();\n                    if (geoType === 'mesh') {\n\n                        const filename = n.children[0].getAttribute('filename');\n                        const filePath = resolvePath(filename);\n\n                        // file path is null if a package directory is not provided.\n                        if (filePath !== null) {\n\n                            const scaleAttr = n.children[0].getAttribute('scale');\n                            if (scaleAttr) {\n\n                                const scale = processTuple(scaleAttr);\n                                group.scaling.set(scale[0], scale[1], scale[2]);\n\n                            }\n\n                            loadMeshCb(filePath, scene, (obj, err) => {\n\n                                if (scene.isDisposed) return;\n\n                                if (err) {\n\n                                    console.error('URDFLoader: Error loading mesh.', err);\n\n                                } else if (obj) {\n\n                                    if (obj instanceof Mesh) {\n\n                                        obj.material = material;\n\n                                    }\n\n                                    // We don't expect non identity rotations or positions.\n                                    obj.position.set(0, 0, 0);\n                                    if (obj.rotationQuaternion) {\n\n                                        obj.rotationQuaternion.copyFrom(Quaternion.Identity());\n\n                                    }\n                                    obj.parent = group;\n\n                                }\n\n                            });\n\n                        }\n\n                    } else if (geoType === 'box') {\n\n                        const primitiveModel = MeshBuilder.CreateBox('box', { size: 1 }, scene);\n                        primitiveModel.material = material;\n\n                        const size = processTuple(n.children[0].getAttribute('size'));\n                        primitiveModel.scaling.set(size[0], size[1], size[2]);\n\n                        primitiveModel.parent = group;\n\n                    } else if (geoType === 'sphere') {\n\n                        const primitiveModel = MeshBuilder.CreateSphere('sphere', { diameter: 2, segments: 30 }, scene);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        primitiveModel.scaling.set(radius, radius, radius);\n\n                        primitiveModel.parent = group;\n\n                    } else if (geoType === 'cylinder') {\n\n                        const primitiveModel = MeshBuilder.CreateCylinder('cylinder', { diameter: 2, height: 1, tessellation: 30 }, scene);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        const length = parseFloat(n.children[0].getAttribute('length')) || 0;\n                        // Three.js cylinder is Y-up, Babylon.js cylinder is also Y-up\n                        // Three.js original: scale(radius, length, radius), rotation(PI/2, 0, 0)\n                        // The rotation makes the cylinder lie along the Z axis (URDF convention)\n                        primitiveModel.scaling.set(radius, length, radius);\n                        primitiveModel.rotationQuaternion = Quaternion.RotationAxis(new Vector3(1, 0, 0), Math.PI / 2);\n\n                        primitiveModel.parent = group;\n\n                    }\n\n                } else if (type === 'origin') {\n\n                    const xyz = processTuple(n.getAttribute('xyz'));\n                    const rpy = processTuple(n.getAttribute('rpy'));\n\n                    group.position.set(xyz[0], xyz[1], xyz[2]);\n                    group.rotationQuaternion = new Quaternion();\n                    applyRotation(group, rpy);\n\n                }\n\n            });\n\n            return group;\n\n        }\n\n        return processUrdf(content);\n\n    }\n\n    // Default mesh loading function\n    defaultMeshLoader(path, scene, done) {\n\n        if (/\\.stl$/i.test(path)) {\n\n            const rootUrl = path.substring(0, path.lastIndexOf('/') + 1);\n            const fileName = path.substring(path.lastIndexOf('/') + 1);\n\n            SceneLoader.ImportMesh('', rootUrl, fileName, scene, (meshes) => {\n\n                if (scene.isDisposed) return;\n\n                if (meshes.length > 0) {\n\n                    // If multiple meshes, create a parent node\n                    if (meshes.length === 1) {\n\n                        const mesh = meshes[0];\n                        mesh.material = new StandardMaterial('stl-material', scene);\n                        done(mesh);\n\n                    } else {\n\n                        const parent = new (Mesh.bind(Mesh, 'stl-root', scene))();\n                        meshes.forEach(m => {\n\n                            m.material = new StandardMaterial('stl-material', scene);\n                            m.parent = parent;\n\n                        });\n                        done(parent);\n\n                    }\n\n                }\n\n            }, null, (scene, message, exception) => {\n\n                if (scene.isDisposed) return;\n\n                console.warn(`URDFLoader: Could not load STL at ${ path }.`, message);\n                done(null, exception || new Error(message));\n\n            });\n\n        } else if (/\\.(glb|gltf)$/i.test(path)) {\n\n            const rootUrl = path.substring(0, path.lastIndexOf('/') + 1);\n            const fileName = path.substring(path.lastIndexOf('/') + 1);\n\n            SceneLoader.ImportMesh('', rootUrl, fileName, scene, (meshes) => {\n\n                if (scene.isDisposed) return;\n\n                if (meshes.length === 1) {\n\n                    done(meshes[0]);\n\n                } else if (meshes.length > 1) {\n\n                    const parent = new (Mesh.bind(Mesh, 'gltf-root', scene))();\n                    meshes.forEach(m => { m.parent = parent; });\n                    done(parent);\n\n                }\n\n            }, null, (scene, message, exception) => {\n\n                if (scene.isDisposed) return;\n\n                console.warn(`URDFLoader: Could not load glTF at ${ path }.`, message);\n                done(null, exception || new Error(message));\n\n            });\n\n        } else if (/\\.dae$/i.test(path)) {\n\n            console.warn(`URDFLoader: DAE/COLLADA files are not supported in Babylon.js. Please convert to glTF: ${ path }`);\n            done(null, new Error('DAE files not supported. Convert to glTF.'));\n\n        } else {\n\n            console.warn(`URDFLoader: Could not load model at ${ path }.\\nNo loader available`);\n\n        }\n\n    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+{"version":3,"file":"URDFLoader.js","sources":["../src/URDFClasses.js","../src/URDFLoader.js"],"sourcesContent":["import { TransformNode, Vector3, Quaternion, Matrix } from '@babylonjs/core';\n\nconst _tempAxis = new Vector3();\nconst _tempQuat = new Quaternion();\nconst _tempQuat2 = new Quaternion();\nconst _tempScale = new Vector3(1.0, 1.0, 1.0);\nconst _tempPosition = new Vector3();\nconst _tempMatrix = new Matrix();\nconst _tempOrigMatrix = new Matrix();\n\nclass URDFBase extends TransformNode {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.rotationQuaternion = new Quaternion();\n        this.urdfNode = null;\n        this.urdfName = '';\n\n    }\n\n    // Depth-first traverse matching Three.js behavior\n    traverse(callback) {\n\n        callback(this);\n        for (const child of this.getChildren()) {\n\n            if (child.traverse) {\n\n                child.traverse(callback);\n\n            } else {\n\n                callback(child);\n\n            }\n\n        }\n\n    }\n\n    copy(source, recursive) {\n\n        this.urdfNode = source.urdfNode;\n        this.urdfName = source.urdfName;\n\n        this.name = source.name;\n        this.position.copyFrom(source.position);\n        if (source.rotationQuaternion) {\n\n            if (!this.rotationQuaternion) {\n\n                this.rotationQuaternion = new Quaternion();\n\n            }\n            this.rotationQuaternion.copyFrom(source.rotationQuaternion);\n\n        }\n        this.scaling.copyFrom(source.scaling);\n\n        if (recursive) {\n\n            const children = source.getChildren();\n            for (const child of children) {\n\n                let clonedChild;\n                if (child._clone && child instanceof URDFBase) {\n\n                    clonedChild = child._clone();\n\n                } else if (child.clone) {\n\n                    // For non-URDF nodes (e.g., Babylon.js Mesh), use native clone\n                    clonedChild = child.clone(child.name);\n\n                }\n                if (clonedChild) {\n\n                    clonedChild.parent = this;\n\n                }\n\n            }\n\n        }\n\n        return this;\n\n    }\n\n    clone(name, newParent) {\n\n        const cloned = this._clone();\n        if (newParent) {\n\n            cloned.parent = newParent;\n\n        }\n        return cloned;\n\n    }\n\n    _clone() {\n\n        const cloned = new this.constructor(this.name, this.getScene());\n        cloned.copy(this, true);\n        return cloned;\n\n    }\n\n}\n\nclass URDFCollider extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFCollider = true;\n        this.type = 'URDFCollider';\n\n    }\n\n}\n\nclass URDFVisual extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFVisual = true;\n        this.type = 'URDFVisual';\n\n    }\n\n}\n\nclass URDFLink extends URDFBase {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFLink = true;\n        this.type = 'URDFLink';\n\n    }\n\n}\n\nclass URDFJoint extends URDFBase {\n\n    get jointType() {\n\n        return this._jointType;\n\n    }\n\n    set jointType(v) {\n\n        if (this.jointType === v) return;\n        this._jointType = v;\n        switch (v) {\n\n            case 'fixed':\n                this.jointValue = [];\n                break;\n\n            case 'continuous':\n            case 'revolute':\n            case 'prismatic':\n                this.jointValue = new Array(1).fill(0);\n                break;\n\n            case 'planar':\n                // Planar joints are, 3dof: position XY and rotation Z.\n                this.jointValue = new Array(3).fill(0);\n                this.axis = new Vector3(0, 0, 1);\n                break;\n\n            case 'floating':\n                this.jointValue = new Array(6).fill(0);\n                break;\n\n        }\n\n    }\n\n    get angle() {\n\n        return this.jointValue[0];\n\n    }\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n\n        this.isURDFJoint = true;\n        this.type = 'URDFJoint';\n\n        this.jointValue = null;\n        this.jointType = 'fixed';\n        this.axis = new Vector3(1, 0, 0);\n        this.limit = { lower: 0, upper: 0 };\n        this.ignoreLimits = false;\n\n        this.origPosition = null;\n        this.origQuaternion = null;\n\n        this.mimicJoints = [];\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.jointType = source.jointType;\n        this.axis = source.axis.clone();\n        this.limit.lower = source.limit.lower;\n        this.limit.upper = source.limit.upper;\n        this.ignoreLimits = false;\n\n        this.jointValue = [...source.jointValue];\n\n        this.origPosition = source.origPosition ? source.origPosition.clone() : null;\n        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;\n\n        this.mimicJoints = [...source.mimicJoints];\n\n        return this;\n\n    }\n\n    /* Public Functions */\n    /**\n     * @param {...number|null} values The joint value components to set, optionally null for no-op\n     * @returns {boolean} Whether the invocation of this function resulted in an actual change to the joint value\n     */\n    setJointValue(...values) {\n\n        // Parse all incoming values into numbers except null, which we treat as a no-op for that value component.\n        values = values.map(v => v === null ? null : parseFloat(v));\n\n        if (!this.origPosition || !this.origQuaternion) {\n\n            this.origPosition = this.position.clone();\n            this.origQuaternion = this.rotationQuaternion.clone();\n\n        }\n\n        let didUpdate = false;\n\n        this.mimicJoints.forEach(joint => {\n\n            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;\n\n        });\n\n        switch (this.jointType) {\n\n            case 'fixed': {\n\n                return didUpdate;\n\n            }\n            case 'continuous':\n            case 'revolute': {\n\n                let angle = values[0];\n                if (angle == null) return didUpdate;\n                if (angle === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits && this.jointType === 'revolute') {\n\n                    angle = Math.min(this.limit.upper, angle);\n                    angle = Math.max(this.limit.lower, angle);\n\n                }\n\n                // Three.js: this.quaternion.setFromAxisAngle(this.axis, angle).premultiply(this.origQuaternion);\n                // premultiply(q) means result = q * this\n                // So: result = origQuaternion * RotationAxis(axis, angle)\n                const rotQuat = Quaternion.RotationAxis(this.axis, angle);\n                this.origQuaternion.multiplyToRef(rotQuat, this.rotationQuaternion);\n\n                if (this.jointValue[0] !== angle) {\n\n                    this.jointValue[0] = angle;\n                    this.computeWorldMatrix(true);\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'prismatic': {\n\n                let pos = values[0];\n                if (pos == null) return didUpdate;\n                if (pos === this.jointValue[0]) return didUpdate;\n\n                if (!this.ignoreLimits) {\n\n                    pos = Math.min(this.limit.upper, pos);\n                    pos = Math.max(this.limit.lower, pos);\n\n                }\n\n                this.position.copyFrom(this.origPosition);\n                // Rotate axis by the original rotation quaternion\n                const rotMatrix = new Matrix();\n                Matrix.FromQuaternionToRef(this.origQuaternion, rotMatrix);\n                Vector3.TransformNormalToRef(this.axis, rotMatrix, _tempAxis);\n                this.position.addInPlace(_tempAxis.scale(pos));\n\n                if (this.jointValue[0] !== pos) {\n\n                    this.jointValue[0] = pos;\n                    this.computeWorldMatrix(true);\n                    return true;\n\n                } else {\n\n                    return didUpdate;\n\n                }\n\n            }\n\n            case 'floating': {\n\n                // no-op if all values are identical to existing value or are null\n                if (this.jointValue.every((value, index) => values[index] === value || values[index] === null)) return didUpdate;\n                // Floating joints have six degrees of freedom: X, Y, Z, R, P, Y.\n                this.jointValue[0] = values[0] !== null ? values[0] : this.jointValue[0];\n                this.jointValue[1] = values[1] !== null ? values[1] : this.jointValue[1];\n                this.jointValue[2] = values[2] !== null ? values[2] : this.jointValue[2];\n                this.jointValue[3] = values[3] !== null ? values[3] : this.jointValue[3];\n                this.jointValue[4] = values[4] !== null ? values[4] : this.jointValue[4];\n                this.jointValue[5] = values[5] !== null ? values[5] : this.jointValue[5];\n\n                // Compose transform of joint origin and transform due to joint values\n                // Three.js: Matrix4.compose(pos, quat, scale) -> Babylon: Matrix.Compose(scale, quat, pos)\n                Matrix.ComposeToRef(_tempScale, this.origQuaternion, this.origPosition, _tempOrigMatrix);\n\n                // Three.js Euler('XYZ') -> compose quaternion from axis rotations\n                // XYZ intrinsic = Qz * Qy * Qx\n                const qx = Quaternion.RotationAxis(new Vector3(1, 0, 0), this.jointValue[3]);\n                const qy = Quaternion.RotationAxis(new Vector3(0, 1, 0), this.jointValue[4]);\n                const qz = Quaternion.RotationAxis(new Vector3(0, 0, 1), this.jointValue[5]);\n                // XYZ order: apply X first, then Y, then Z -> qz * qy * qx\n                qz.multiplyToRef(qy, _tempQuat);\n                _tempQuat.multiplyToRef(qx, _tempQuat2);\n\n                _tempPosition.set(this.jointValue[0], this.jointValue[1], this.jointValue[2]);\n                Matrix.ComposeToRef(_tempScale, _tempQuat2, _tempPosition, _tempMatrix);\n\n                // Three.js: _tempOrigTransform.premultiply(_tempTransform) means _tempTransform * _tempOrigTransform\n                _tempMatrix.multiplyToRef(_tempOrigMatrix, _tempOrigMatrix);\n\n                // Decompose: Babylon decompose(scale, rotation, translation)\n                _tempOrigMatrix.decompose(_tempScale, _tempQuat, _tempPosition);\n                this.position.copyFrom(_tempPosition);\n                this.rotationQuaternion.copyFrom(_tempQuat);\n\n                // Reset temp scale\n                _tempScale.set(1, 1, 1);\n\n                this.computeWorldMatrix(true);\n                return true;\n            }\n\n            case 'planar': {\n\n                // no-op if all values are identical to existing value or are null\n                if (this.jointValue.every((value, index) => values[index] === value || values[index] === null)) return didUpdate;\n\n                this.jointValue[0] = values[0] !== null ? values[0] : this.jointValue[0];\n                this.jointValue[1] = values[1] !== null ? values[1] : this.jointValue[1];\n                this.jointValue[2] = values[2] !== null ? values[2] : this.jointValue[2];\n\n                // Compose transform of joint origin and transform due to joint values\n                Matrix.ComposeToRef(_tempScale, this.origQuaternion, this.origPosition, _tempOrigMatrix);\n                const axisQuat = Quaternion.RotationAxis(this.axis, this.jointValue[2]);\n                _tempPosition.set(this.jointValue[0], this.jointValue[1], 0.0);\n                Matrix.ComposeToRef(_tempScale, axisQuat, _tempPosition, _tempMatrix);\n\n                // Calculate new transform: premultiply means _tempTransform * _tempOrigTransform\n                _tempMatrix.multiplyToRef(_tempOrigMatrix, _tempOrigMatrix);\n\n                _tempOrigMatrix.decompose(_tempScale, _tempQuat, _tempPosition);\n                this.position.copyFrom(_tempPosition);\n                this.rotationQuaternion.copyFrom(_tempQuat);\n\n                // Reset temp scale\n                _tempScale.set(1, 1, 1);\n\n                this.computeWorldMatrix(true);\n                return true;\n            }\n\n        }\n\n        return didUpdate;\n\n    }\n\n}\n\nclass URDFMimicJoint extends URDFJoint {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.type = 'URDFMimicJoint';\n        this.mimicJoint = null;\n        this.offset = 0;\n        this.multiplier = 1;\n\n    }\n\n    updateFromMimickedJoint(...values) {\n\n        const modifiedValues = values.map(x => x * this.multiplier + this.offset);\n        return super.setJointValue(...modifiedValues);\n\n    }\n\n    /* Overrides */\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.mimicJoint = source.mimicJoint;\n        this.offset = source.offset;\n        this.multiplier = source.multiplier;\n\n        return this;\n\n    }\n\n}\n\nclass URDFRobot extends URDFLink {\n\n    constructor(name = '', scene = null) {\n\n        super(name, scene);\n        this.isURDFRobot = true;\n        this.urdfNode = null;\n\n        this.urdfRobotNode = null;\n        this.robotName = null;\n\n        this.links = null;\n        this.joints = null;\n        this.colliders = null;\n        this.visual = null;\n        this.frames = null;\n\n    }\n\n    copy(source, recursive) {\n\n        super.copy(source, recursive);\n\n        this.urdfRobotNode = source.urdfRobotNode;\n        this.robotName = source.robotName;\n\n        this.links = {};\n        this.joints = {};\n        this.colliders = {};\n        this.visual = {};\n\n        this.traverse(c => {\n\n            if (c.isURDFJoint && c.urdfName in source.joints) {\n\n                this.joints[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFLink && c.urdfName in source.links) {\n\n                this.links[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFCollider && c.urdfName in source.colliders) {\n\n                this.colliders[c.urdfName] = c;\n\n            }\n\n            if (c.isURDFVisual && c.urdfName in source.visual) {\n\n                this.visual[c.urdfName] = c;\n\n            }\n\n        });\n\n        // Repair mimic joint references once we've re-accumulated all our joint data\n        for (const joint in this.joints) {\n            this.joints[joint].mimicJoints = this.joints[joint].mimicJoints.map((mimicJoint) => this.joints[mimicJoint.name]);\n        }\n\n        this.frames = {\n            ...this.colliders,\n            ...this.visual,\n            ...this.links,\n            ...this.joints,\n        };\n\n        return this;\n\n    }\n\n    getFrame(name) {\n\n        return this.frames[name];\n\n    }\n\n    setJointValue(jointName, ...angle) {\n\n        const joint = this.joints[jointName];\n        if (joint) {\n\n            return joint.setJointValue(...angle);\n\n        }\n\n        return false;\n    }\n\n    setJointValues(values) {\n\n        let didChange = false;\n        for (const name in values) {\n\n            const value = values[name];\n            if (Array.isArray(value)) {\n\n                didChange = this.setJointValue(name, ...value) || didChange;\n\n            } else {\n\n                didChange = this.setJointValue(name, value) || didChange;\n\n            }\n\n        }\n\n        return didChange;\n\n    }\n\n}\n\nexport { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };\n","import { StandardMaterial, Color3, Texture, MeshBuilder, Mesh, Vector3, Quaternion, Material, SceneLoader } from '@babylonjs/core';\nimport { STLFileLoader } from '@babylonjs/loaders/STL/stlFileLoader.js';\nimport '@babylonjs/loaders/glTF';\n\n// Prevent Y/Z axis swap — URDF coordinates should be used as-is in a right-handed scene\nSTLFileLoader.DO_NOT_ALTER_FILE_COORDINATES = true;\nimport { URDFRobot, URDFJoint, URDFLink, URDFCollider, URDFVisual, URDFMimicJoint } from './URDFClasses.js';\n\n/*\nReference coordinate frames for Babylon.js and ROS.\nBabylon.js is LEFT-handed, ROS/URDF is RIGHT-handed.\nTo handle this, apply scaling (1, 1, -1) on the robot root node\n(handled in the viewer component).\n\nBabylon.js\n   Y\n   |\n   |\n   .-----X\n    \\\n     Z (into screen, left-handed)\n\nROS URDF\n       Z\n       |   X\n       | /\n Y-----.\n\n*/\n\nconst tempQuaternion = new Quaternion();\n\n// Simple load tracker replacing THREE.LoadingManager\nclass LoadTracker {\n\n    constructor() {\n\n        this._pending = 0;\n        this.onLoad = null;\n\n    }\n\n    itemStart() {\n\n        this._pending++;\n\n    }\n\n    itemEnd() {\n\n        this._pending--;\n        if (this._pending === 0 && this.onLoad) {\n\n            this.onLoad();\n\n        }\n\n    }\n\n    itemError(url) {\n\n        console.error(`URDFLoader: Failed to load: ${ url }`);\n\n    }\n\n}\n\n// take a vector \"x y z\" and process it into\n// an array [x, y, z]\nfunction processTuple(val) {\n\n    if (!val) return [0, 0, 0];\n    return val.trim().split(/\\s+/g).map(num => parseFloat(num));\n\n}\n\n// Extract the base URL from a full URL path\nfunction extractUrlBase(url) {\n\n    return url.substring(0, url.lastIndexOf('/') + 1);\n\n}\n\n// applies a rotation to a Babylon.js node in URDF order\nfunction applyRotation(obj, rpy, additive = false) {\n\n    // if additive is true the rotation is applied in\n    // addition to the existing rotation\n    if (!additive) {\n\n        obj.rotationQuaternion = new Quaternion();\n\n    }\n\n    // URDF uses ZYX Euler order (intrinsic)\n    // ZYX intrinsic = Qz * Qy * Qx\n    const qx = Quaternion.RotationAxis(new Vector3(1, 0, 0), rpy[0]);\n    const qy = Quaternion.RotationAxis(new Vector3(0, 1, 0), rpy[1]);\n    const qz = Quaternion.RotationAxis(new Vector3(0, 0, 1), rpy[2]);\n    const rpyQuat = qz.multiply(qy).multiply(qx);\n\n    rpyQuat.multiplyToRef(obj.rotationQuaternion, tempQuaternion);\n    obj.rotationQuaternion.copyFrom(tempQuaternion);\n\n}\n\n/* URDFLoader Class */\n// Loads and reads a URDF file into a Babylon.js TransformNode format\nexport default\nclass URDFLoader {\n\n    constructor(scene) {\n\n        this.scene = scene || null;\n        this.manager = new LoadTracker();\n        this.loadMeshCb = this.defaultMeshLoader.bind(this);\n        this.parseVisual = true;\n        this.parseCollision = false;\n        this.packages = '';\n        this.workingPath = '';\n        this.fetchOptions = {};\n        // Optional hook: (mesh, originalMaterial) => void. Called once per\n        // mesh produced by defaultMeshLoader, after the mesh exists and its\n        // original material is assigned (StandardMaterial for STL; the glTF\n        // loader's material for GLB/GLTF). Consumers can inspect the source\n        // material (e.g. baseColor) and swap mesh.material in place.\n        this.onMeshLoaded = null;\n\n    }\n\n    /* Public API */\n    loadAsync(urdf) {\n\n        return new Promise((resolve, reject) => {\n\n            this.load(urdf, resolve, null, reject);\n\n        });\n\n    }\n\n    // urdf:    The path to the URDF within the package OR absolute\n    // onComplete:      Callback that is passed the model once loaded\n    load(urdf, onComplete, onProgress, onError) {\n\n        const manager = this.manager;\n        const workingPath = extractUrlBase(urdf);\n        const urdfPath = urdf;\n\n        manager.itemStart();\n\n        fetch(urdfPath, this.fetchOptions)\n            .then(res => {\n\n                if (res.ok) {\n\n                    if (onProgress) {\n\n                        onProgress(null);\n\n                    }\n                    return res.text();\n\n                } else {\n\n                    throw new Error(`URDFLoader: Failed to load url '${ urdfPath }' with error code ${ res.status } : ${ res.statusText }.`);\n\n                }\n\n            })\n            .then(data => {\n\n                const model = this.parse(data, this.workingPath || workingPath);\n                // Defer onComplete until every mesh load tracked by the\n                // LoadTracker has also finished. parse() kicks off async\n                // loadMeshCb calls that increment pending; onLoad fires when\n                // pending returns to zero after our own itemEnd below.\n                manager.onLoad = () => { onComplete(model); };\n                manager.itemEnd();\n\n            })\n            .catch(e => {\n\n                if (onError) {\n\n                    onError(e);\n\n                } else {\n\n                    console.error('URDFLoader: Error loading file.', e);\n\n                }\n                manager.itemError(urdfPath);\n                manager.itemEnd();\n\n            });\n\n    }\n\n    parse(content, workingPath = this.workingPath) {\n\n        const scene = this.scene;\n        const manager = this.manager;\n        const packages = this.packages;\n        const loadMeshCb = this.loadMeshCb;\n        const onMeshLoaded = this.onMeshLoaded;\n        const parseVisual = this.parseVisual;\n        const parseCollision = this.parseCollision;\n        const linkMap = {};\n        const jointMap = {};\n        const materialMap = {};\n\n        // Resolves the path of mesh files\n        function resolvePath(path) {\n\n            if (!/^package:\\/\\//.test(path)) {\n\n                return workingPath ? workingPath + path : path;\n\n            }\n\n            // Remove \"package://\" keyword and split meshPath at the first slash\n            const [targetPkg, relPath] = path.replace(/^package:\\/\\//, '').split(/\\/(.+)/);\n\n            if (typeof packages === 'string') {\n\n                // \"pkg\" is one single package\n                if (packages.endsWith(targetPkg)) {\n\n                    // \"pkg\" is the target package\n                    return packages + '/' + relPath;\n\n                } else {\n\n                    // Assume \"pkg\" is the target package's parent directory\n                    return packages + '/' + targetPkg + '/' + relPath;\n\n                }\n\n            } else if (packages instanceof Function) {\n\n                return packages(targetPkg) + '/' + relPath;\n\n            } else if (typeof packages === 'object') {\n\n                // \"pkg\" is a map of packages\n                if (targetPkg in packages) {\n\n                    return packages[targetPkg] + '/' + relPath;\n\n                } else {\n\n                    console.error(`URDFLoader : ${ targetPkg } not found in provided package list.`);\n                    return null;\n\n                }\n\n            }\n\n        }\n\n        // Process the URDF text format\n        function processUrdf(data) {\n\n            let children;\n            if (data instanceof Document) {\n\n                children = [ ...data.children ];\n\n            } else if (data instanceof Element) {\n\n                children = [ data ];\n\n            } else {\n\n                const parser = new DOMParser();\n                const urdf = parser.parseFromString(data, 'text/xml');\n                children = [ ...urdf.children ];\n\n            }\n\n            const robotNode = children.filter(c => c.nodeName === 'robot').pop();\n            return processRobot(robotNode);\n\n        }\n\n        // Process the <robot> node\n        function processRobot(robot) {\n\n            const robotNodes = [ ...robot.children ];\n            const links = robotNodes.filter(c => c.nodeName.toLowerCase() === 'link');\n            const joints = robotNodes.filter(c => c.nodeName.toLowerCase() === 'joint');\n            const materials = robotNodes.filter(c => c.nodeName.toLowerCase() === 'material');\n            const obj = new URDFRobot('', scene);\n\n            obj.robotName = robot.getAttribute('name');\n            obj.urdfRobotNode = robot;\n\n            // Create the <material> map\n            materials.forEach(m => {\n\n                const name = m.getAttribute('name');\n                materialMap[name] = processMaterial(m);\n\n            });\n\n            // Create the <link> map\n            const visualMap = {};\n            const colliderMap = {};\n            links.forEach(l => {\n\n                const name = l.getAttribute('name');\n                const isRoot = robot.querySelector(`child[link=\"${ name }\"]`) === null;\n                linkMap[name] = processLink(l, visualMap, colliderMap, isRoot ? obj : null);\n\n            });\n\n            // Create the <joint> map\n            joints.forEach(j => {\n\n                const name = j.getAttribute('name');\n                jointMap[name] = processJoint(j);\n\n            });\n\n            obj.joints = jointMap;\n            obj.links = linkMap;\n            obj.colliders = colliderMap;\n            obj.visual = visualMap;\n\n            // Link up mimic joints\n            const jointList = Object.values(jointMap);\n            jointList.forEach(j => {\n\n                if (j instanceof URDFMimicJoint) {\n\n                    jointMap[j.mimicJoint].mimicJoints.push(j);\n\n                }\n\n            });\n\n            // Detect infinite loops of mimic joints\n            jointList.forEach(j => {\n\n                const uniqueJoints = new Set();\n                const iterFunction = joint => {\n\n                    if (uniqueJoints.has(joint)) {\n\n                        throw new Error('URDFLoader: Detected an infinite loop of mimic joints.');\n\n                    }\n\n                    uniqueJoints.add(joint);\n                    joint.mimicJoints.forEach(j => {\n\n                        iterFunction(j);\n\n                    });\n\n                };\n\n                iterFunction(j);\n            });\n\n            obj.frames = {\n                ...colliderMap,\n                ...visualMap,\n                ...linkMap,\n                ...jointMap,\n            };\n\n            return obj;\n\n        }\n\n        // Process joint nodes and parent them\n        function processJoint(joint) {\n\n            const children = [ ...joint.children ];\n            const jointType = joint.getAttribute('type');\n\n            let obj;\n\n            const mimicTag = children.find(n => n.nodeName.toLowerCase() === 'mimic');\n            if (mimicTag) {\n\n                obj = new URDFMimicJoint('', scene);\n                obj.mimicJoint = mimicTag.getAttribute('joint');\n                obj.multiplier = parseFloat(mimicTag.getAttribute('multiplier') || 1.0);\n                obj.offset = parseFloat(mimicTag.getAttribute('offset') || 0.0);\n\n            } else {\n\n                obj = new URDFJoint('', scene);\n\n            }\n\n            obj.urdfNode = joint;\n            obj.name = joint.getAttribute('name');\n            obj.urdfName = obj.name;\n            obj.jointType = jointType;\n\n            let parent = null;\n            let child = null;\n            let xyz = [0, 0, 0];\n            let rpy = [0, 0, 0];\n\n            // Extract the attributes\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'origin') {\n\n                    xyz = processTuple(n.getAttribute('xyz'));\n                    rpy = processTuple(n.getAttribute('rpy'));\n\n                } else if (type === 'child') {\n\n                    child = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'parent') {\n\n                    parent = linkMap[n.getAttribute('link')];\n\n                } else if (type === 'limit') {\n\n                    obj.limit.lower = parseFloat(n.getAttribute('lower') || obj.limit.lower);\n                    obj.limit.upper = parseFloat(n.getAttribute('upper') || obj.limit.upper);\n\n                }\n            });\n\n            // Join the links - Babylon.js uses child.parent = parentNode\n            obj.parent = parent;\n            child.parent = obj;\n            applyRotation(obj, rpy);\n            obj.position.set(xyz[0], xyz[1], xyz[2]);\n\n            // Set up the rotate function\n            const axisNode = children.filter(n => n.nodeName.toLowerCase() === 'axis')[0];\n\n            if (axisNode) {\n\n                const axisXYZ = axisNode.getAttribute('xyz').split(/\\s+/g).map(num => parseFloat(num));\n                obj.axis = new Vector3(axisXYZ[0], axisXYZ[1], axisXYZ[2]);\n                obj.axis.normalize();\n\n            }\n\n            return obj;\n\n        }\n\n        // Process the <link> nodes\n        function processLink(link, visualMap, colliderMap, target = null) {\n\n            if (target === null) {\n\n                target = new URDFLink('', scene);\n\n            }\n\n            const children = [ ...link.children ];\n            target.name = link.getAttribute('name');\n            target.urdfName = target.name;\n            target.urdfNode = link;\n\n            if (parseVisual) {\n\n                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');\n                visualNodes.forEach(vn => {\n\n                    const v = processLinkElement(vn, materialMap);\n                    v.parent = target;\n\n                    if (vn.hasAttribute('name')) {\n\n                        const name = vn.getAttribute('name');\n                        v.name = name;\n                        v.urdfName = name;\n                        visualMap[name] = v;\n\n                    }\n\n                });\n\n            }\n\n            if (parseCollision) {\n\n                const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');\n                collisionNodes.forEach(cn => {\n\n                    const c = processLinkElement(cn);\n                    c.parent = target;\n\n                    if (cn.hasAttribute('name')) {\n\n                        const name = cn.getAttribute('name');\n                        c.name = name;\n                        c.urdfName = name;\n                        colliderMap[name] = c;\n\n                    }\n\n                });\n\n            }\n\n            return target;\n\n        }\n\n        function processMaterial(node) {\n\n            const matNodes = [ ...node.children ];\n            const material = new StandardMaterial(node.getAttribute('name') || '', scene);\n\n            material.name = node.getAttribute('name') || '';\n            matNodes.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'color') {\n\n                    const rgba =\n                        n\n                            .getAttribute('rgba')\n                            .split(/\\s/g)\n                            .map(v => parseFloat(v));\n\n                    material.diffuseColor = new Color3(rgba[0], rgba[1], rgba[2]);\n                    material.alpha = rgba[3];\n                    if (rgba[3] < 1) {\n\n                        material.transparencyMode = Material.MATERIAL_ALPHABLEND;\n                        material.disableDepthWrite = true;\n\n                    }\n\n                } else if (type === 'texture') {\n\n                    // The URDF spec does not require that the <texture/> tag include\n                    // a filename attribute so skip loading the texture if not provided.\n                    const filename = n.getAttribute('filename');\n                    if (filename) {\n\n                        const filePath = resolvePath(filename);\n                        material.diffuseTexture = new Texture(filePath, scene);\n\n                    }\n\n                }\n            });\n\n            return material;\n\n        }\n\n        // Process the visual and collision nodes into meshes\n        function processLinkElement(vn, materialMap = {}) {\n\n            const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';\n            const children = [ ...vn.children ];\n            let material = null;\n\n            // get the material first\n            const materialNode = children.filter(n => n.nodeName.toLowerCase() === 'material')[0];\n            if (materialNode) {\n\n                const name = materialNode.getAttribute('name');\n                if (name && name in materialMap) {\n\n                    material = materialMap[name];\n\n                } else {\n\n                    material = processMaterial(materialNode);\n\n                }\n\n            } else {\n\n                material = new StandardMaterial('', scene);\n\n            }\n\n            const group = isCollisionNode ? new URDFCollider('', scene) : new URDFVisual('', scene);\n            group.urdfNode = vn;\n\n            children.forEach(n => {\n\n                const type = n.nodeName.toLowerCase();\n                if (type === 'geometry') {\n\n                    const geoType = n.children[0].nodeName.toLowerCase();\n                    if (geoType === 'mesh') {\n\n                        const filename = n.children[0].getAttribute('filename');\n                        const filePath = resolvePath(filename);\n\n                        // file path is null if a package directory is not provided.\n                        if (filePath !== null) {\n\n                            const scaleAttr = n.children[0].getAttribute('scale');\n                            if (scaleAttr) {\n\n                                const scale = processTuple(scaleAttr);\n                                group.scaling.set(scale[0], scale[1], scale[2]);\n\n                            }\n\n                            // Track each mesh load on the LoadTracker so\n                            // `onLoad` fires only after all meshes have\n                            // attached. Without this the top-level\n                            // `onComplete` runs right after parse returns —\n                            // before any async STL/GLB loads finish — so\n                            // callers observe an empty robot tree and can't\n                            // populate light include-lists, selection sets,\n                            // etc. from the final mesh set.\n                            manager.itemStart();\n                            loadMeshCb(filePath, scene, (obj, err) => {\n\n                                if (scene.isDisposed) {\n\n                                    manager.itemEnd();\n                                    return;\n\n                                }\n\n                                if (err) {\n\n                                    console.error('URDFLoader: Error loading mesh.', err);\n\n                                } else if (obj) {\n\n                                    // Skip the URDF-material override when the\n                                    // consumer has installed an onMeshLoaded\n                                    // hook — they take full responsibility for\n                                    // mesh materials (including per-primitive\n                                    // handling for multi-mesh glTF imports).\n                                    if (obj instanceof Mesh && !onMeshLoaded) {\n\n                                        obj.material = material;\n\n                                    }\n\n                                    // We don't expect non identity rotations or positions.\n                                    obj.position.set(0, 0, 0);\n                                    if (obj.rotationQuaternion) {\n\n                                        obj.rotationQuaternion.copyFrom(Quaternion.Identity());\n\n                                    }\n                                    obj.parent = group;\n\n                                }\n\n                                manager.itemEnd();\n\n                            });\n\n                        }\n\n                    } else if (geoType === 'box') {\n\n                        const primitiveModel = MeshBuilder.CreateBox('box', { size: 1 }, scene);\n                        primitiveModel.material = material;\n\n                        const size = processTuple(n.children[0].getAttribute('size'));\n                        primitiveModel.scaling.set(size[0], size[1], size[2]);\n\n                        primitiveModel.parent = group;\n\n                    } else if (geoType === 'sphere') {\n\n                        const primitiveModel = MeshBuilder.CreateSphere('sphere', { diameter: 2, segments: 30 }, scene);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        primitiveModel.scaling.set(radius, radius, radius);\n\n                        primitiveModel.parent = group;\n\n                    } else if (geoType === 'cylinder') {\n\n                        const primitiveModel = MeshBuilder.CreateCylinder('cylinder', { diameter: 2, height: 1, tessellation: 30 }, scene);\n                        primitiveModel.material = material;\n\n                        const radius = parseFloat(n.children[0].getAttribute('radius')) || 0;\n                        const length = parseFloat(n.children[0].getAttribute('length')) || 0;\n                        // Three.js cylinder is Y-up, Babylon.js cylinder is also Y-up\n                        // Three.js original: scale(radius, length, radius), rotation(PI/2, 0, 0)\n                        // The rotation makes the cylinder lie along the Z axis (URDF convention)\n                        primitiveModel.scaling.set(radius, length, radius);\n                        primitiveModel.rotationQuaternion = Quaternion.RotationAxis(new Vector3(1, 0, 0), Math.PI / 2);\n\n                        primitiveModel.parent = group;\n\n                    }\n\n                } else if (type === 'origin') {\n\n                    const xyz = processTuple(n.getAttribute('xyz'));\n                    const rpy = processTuple(n.getAttribute('rpy'));\n\n                    group.position.set(xyz[0], xyz[1], xyz[2]);\n                    group.rotationQuaternion = new Quaternion();\n                    applyRotation(group, rpy);\n\n                }\n\n            });\n\n            return group;\n\n        }\n\n        return processUrdf(content);\n\n    }\n\n    // Default mesh loading function\n    defaultMeshLoader(path, scene, done) {\n\n        if (/\\.stl$/i.test(path)) {\n\n            const rootUrl = path.substring(0, path.lastIndexOf('/') + 1);\n            const fileName = path.substring(path.lastIndexOf('/') + 1);\n\n            SceneLoader.ImportMesh('', rootUrl, fileName, scene, (meshes) => {\n\n                if (scene.isDisposed) return;\n\n                if (meshes.length > 0) {\n\n                    // If multiple meshes, create a parent node\n                    if (meshes.length === 1) {\n\n                        const mesh = meshes[0];\n                        mesh.material = new StandardMaterial('stl-material', scene);\n                        if (this.onMeshLoaded) this.onMeshLoaded(mesh, mesh.material);\n                        done(mesh);\n\n                    } else {\n\n                        const parent = new (Mesh.bind(Mesh, 'stl-root', scene))();\n                        meshes.forEach(m => {\n\n                            m.material = new StandardMaterial('stl-material', scene);\n                            if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);\n                            m.parent = parent;\n\n                        });\n                        done(parent);\n\n                    }\n\n                }\n\n            }, null, (scene, message, exception) => {\n\n                if (scene.isDisposed) return;\n\n                console.warn(`URDFLoader: Could not load STL at ${ path }.`, message);\n                done(null, exception || new Error(message));\n\n            });\n\n        } else if (/\\.(glb|gltf)$/i.test(path)) {\n\n            const rootUrl = path.substring(0, path.lastIndexOf('/') + 1);\n            const fileName = path.substring(path.lastIndexOf('/') + 1);\n\n            SceneLoader.ImportMesh('', rootUrl, fileName, scene, (meshes) => {\n\n                if (scene.isDisposed) return;\n\n                if (meshes.length === 1) {\n\n                    if (this.onMeshLoaded) this.onMeshLoaded(meshes[0], meshes[0].material);\n                    done(meshes[0]);\n\n                } else if (meshes.length > 1) {\n\n                    const parent = new (Mesh.bind(Mesh, 'gltf-root', scene))();\n                    meshes.forEach(m => {\n\n                        if (this.onMeshLoaded) this.onMeshLoaded(m, m.material);\n                        m.parent = parent;\n\n                    });\n                    done(parent);\n\n                }\n\n            }, null, (scene, message, exception) => {\n\n                if (scene.isDisposed) return;\n\n                console.warn(`URDFLoader: Could not load glTF at ${ path }.`, message);\n                done(null, exception || new Error(message));\n\n            });\n\n        } else if (/\\.dae$/i.test(path)) {\n\n            console.warn(`URDFLoader: DAE/COLLADA files are not supported in Babylon.js. Please convert to glTF: ${ path }`);\n            done(null, new Error('DAE files not supported. Convert to glTF.'));\n\n        } else {\n\n            console.warn(`URDFLoader: Could not load model at ${ path }.\\nNo loader available`);\n\n        }\n\n    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