urdf-loader 0.10.0 → 0.10.3

package/src/urdf-viewer-element.js

@@ -1,551 +1,551 @@
-import * as THREE from 'three';
-import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
-import URDFLoader from './URDFLoader.js';
-
-const tempVec2 = new THREE.Vector2();
-
-// urdf-viewer element
-// Loads and displays a 3D view of a URDF-formatted robot
-
-// Events
-// urdf-change: Fires when the URDF has finished loading and getting processed
-// urdf-processed: Fires when the URDF has finished loading and getting processed
-// geometry-loaded: Fires when all the geometry has been fully loaded
-// ignore-limits-change: Fires when the 'ignore-limits' attribute changes
-// angle-change: Fires when an angle changes
-export default
-class URDFViewer extends HTMLElement {
-
-    static get observedAttributes() {
-
-        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits'];
-
-    }
-
-    get package() { return this.getAttribute('package') || ''; }
-    set package(val) { this.setAttribute('package', val); }
-
-    get urdf() { return this.getAttribute('urdf') || ''; }
-    set urdf(val) { this.setAttribute('urdf', val); }
-
-    get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }
-    set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }
-
-    get up() { return this.getAttribute('up') || '+Z'; }
-    set up(val) { this.setAttribute('up', val); }
-
-    get displayShadow() { return this.hasAttribute('display-shadow') || false; }
-    set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }
-
-    get ambientColor() { return this.getAttribute('ambient-color') || '#455A64'; }
-    set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }
-
-    get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }
-    set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }
-
-    get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }
-    set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }
-
-    get jointValues() {
-
-        const values = {};
-        if (this.robot) {
-
-            for (const name in this.robot.joints) {
-
-                const joint = this.robot.joints[name];
-                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
-
-            }
-
-        }
-
-        return values;
-
-    }
-    set jointValues(val) { this.setJointValues(val); }
-
-    get angles() {
-
-        return this.jointValues;
-
-    }
-    set angles(v) {
-
-        this.jointValues = v;
-
-    }
-
-    /* Lifecycle Functions */
-    constructor() {
-
-        super();
-
-        this._requestId = 0;
-        this._dirty = false;
-        this._loadScheduled = false;
-        this.robot = null;
-        this.loadMeshFunc = null;
-        this.urlModifierFunc = null;
-
-        // Scene setup
-        const scene = new THREE.Scene();
-
-        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');
-        ambientLight.groundColor.lerp(ambientLight.color, 0.5);
-        ambientLight.intensity = 0.5;
-        ambientLight.position.set(0, 1, 0);
-        scene.add(ambientLight);
-
-        // Light setup
-        const dirLight = new THREE.DirectionalLight(0xffffff);
-        dirLight.position.set(4, 10, 1);
-        dirLight.shadow.mapSize.width = 2048;
-        dirLight.shadow.mapSize.height = 2048;
-        dirLight.shadow.normalBias = 0.001;
-        dirLight.castShadow = true;
-        scene.add(dirLight);
-        scene.add(dirLight.target);
-
-        // Renderer setup
-        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
-        renderer.setClearColor(0xffffff);
-        renderer.setClearAlpha(0);
-        renderer.shadowMap.enabled = true;
-        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-        renderer.outputEncoding = THREE.sRGBEncoding;
-
-        // Camera setup
-        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
-        camera.position.z = -10;
-
-        // World setup
-        const world = new THREE.Object3D();
-        scene.add(world);
-
-        const plane = new THREE.Mesh(
-            new THREE.PlaneBufferGeometry(40, 40),
-            new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }),
-        );
-        plane.rotation.x = -Math.PI / 2;
-        plane.position.y = -0.5;
-        plane.receiveShadow = true;
-        plane.scale.set(10, 10, 10);
-        scene.add(plane);
-
-        // Controls setup
-        const controls = new OrbitControls(camera, renderer.domElement);
-        controls.rotateSpeed = 2.0;
-        controls.zoomSpeed = 5;
-        controls.panSpeed = 2;
-        controls.enableZoom = true;
-        controls.enableDamping = false;
-        controls.maxDistance = 50;
-        controls.minDistance = 0.25;
-        controls.addEventListener('change', () => this.recenter());
-
-        this.scene = scene;
-        this.world = world;
-        this.renderer = renderer;
-        this.camera = camera;
-        this.controls = controls;
-        this.plane = plane;
-        this.directionalLight = dirLight;
-        this.ambientLight = ambientLight;
-
-        this._setUp(this.up);
-
-        const _renderLoop = () => {
-
-            if (this.parentNode) {
-
-                this.updateSize();
-
-                if (this._dirty || this.autoRedraw) {
-
-                    if (!this.noAutoRecenter) {
-
-                        this._updateEnvironment();
-                    }
-
-                    this.renderer.render(scene, camera);
-                    this._dirty = false;
-
-                }
-
-                // update controls after the environment in
-                // case the controls are retargeted
-                this.controls.update();
-
-            }
-            this._renderLoopId = requestAnimationFrame(_renderLoop);
-
-        };
-        _renderLoop();
-
-    }
-
-    connectedCallback() {
-
-        // Add our initialize styles for the element if they haven't
-        // been added yet
-        if (!this.constructor._styletag) {
-
-            const styletag = document.createElement('style');
-            styletag.innerHTML =
-            `
-                ${ this.tagName } { display: block; }
-                ${ this.tagName } canvas {
-                    width: 100%;
-                    height: 100%;
-                }
-            `;
-            document.head.appendChild(styletag);
-            this.constructor._styletag = styletag;
-
-        }
-
-        // add the renderer
-        if (this.childElementCount === 0) {
-
-            this.appendChild(this.renderer.domElement);
-
-        }
-
-        this.updateSize();
-        requestAnimationFrame(() => this.updateSize());
-
-    }
-
-    disconnectedCallback() {
-
-        cancelAnimationFrame(this._renderLoopId);
-
-    }
-
-    attributeChangedCallback(attr, oldval, newval) {
-
-        this.recenter();
-
-        switch (attr) {
-
-            case 'package':
-            case 'urdf': {
-
-                this._scheduleLoad();
-                break;
-
-            }
-
-            case 'up': {
-
-                this._setUp(this.up);
-                break;
-
-            }
-
-            case 'ambient-color': {
-
-                this.ambientLight.color.set(this.ambientColor);
-                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);
-                break;
-
-            }
-
-            case 'ignore-limits': {
-
-                this._setIgnoreLimits(this.ignoreLimits, true);
-                break;
-
-            }
-
-        }
-
-    }
-
-    /* Public API */
-    updateSize() {
-
-        const r = this.renderer;
-        const w = this.clientWidth;
-        const h = this.clientHeight;
-        const currsize = r.getSize(tempVec2);
-
-        if (currsize.width !== w || currsize.height !== h) {
-
-            this.recenter();
-
-        }
-
-        r.setPixelRatio(window.devicePixelRatio);
-        r.setSize(w, h, false);
-
-        this.camera.aspect = w / h;
-        this.camera.updateProjectionMatrix();
-
-    }
-
-    redraw() {
-
-        this._dirty = true;
-    }
-
-    recenter() {
-
-        this._updateEnvironment();
-        this.redraw();
-
-    }
-
-    // Set the joint with jointName to
-    // angle in degrees
-    setJointValue(jointName, ...values) {
-
-        if (!this.robot) return;
-        if (!this.robot.joints[jointName]) return;
-
-        if (this.robot.joints[jointName].setJointValue(...values)) {
-
-            this.redraw();
-            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
-
-        }
-
-    }
-
-    setJointValues(values) {
-
-        for (const name in values) this.setJointValue(name, values[name]);
-
-    }
-
-    /* Private Functions */
-    // Updates the position of the plane to be at the
-    // lowest point below the robot and focuses the
-    // camera on the center of the scene
-    _updateEnvironment() {
-
-        if (!this.robot) return;
-
-        this.world.updateMatrixWorld();
-
-        const bbox = new THREE.Box3();
-        bbox.setFromObject(this.robot);
-
-        const center = bbox.getCenter(new THREE.Vector3());
-        this.controls.target.y = center.y;
-        this.plane.position.y = bbox.min.y - 1e-3;
-
-        const dirLight = this.directionalLight;
-        dirLight.castShadow = this.displayShadow;
-
-        if (this.displayShadow) {
-
-            // Update the shadow camera rendering bounds to encapsulate the
-            // model. We use the bounding sphere of the bounding box for
-            // simplicity -- this could be a tighter fit.
-            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
-            const minmax = sphere.radius;
-            const cam = dirLight.shadow.camera;
-            cam.left = cam.bottom = -minmax;
-            cam.right = cam.top = minmax;
-
-            // Update the camera to focus on the center of the model so the
-            // shadow can encapsulate it
-            const offset = dirLight.position.clone().sub(dirLight.target.position);
-            dirLight.target.position.copy(center);
-            dirLight.position.copy(center).add(offset);
-
-            cam.updateProjectionMatrix();
-
-        }
-
-    }
-
-    _scheduleLoad() {
-
-        // if our current model is already what's being requested
-        // or has been loaded then early out
-        if (this._prevload === `${ this.package }|${ this.urdf }`) return;
-        this._prevload = `${ this.package }|${ this.urdf }`;
-
-        // if we're already waiting on a load then early out
-        if (this._loadScheduled) return;
-        this._loadScheduled = true;
-
-        if (this.robot) {
-
-            this.robot.traverse(c => c.dispose && c.dispose());
-            this.robot.parent.remove(this.robot);
-            this.robot = null;
-
-        }
-
-        requestAnimationFrame(() => {
-
-            this._loadUrdf(this.package, this.urdf);
-            this._loadScheduled = false;
-
-        });
-
-    }
-
-    // Watch the package and urdf field and load the robot model.
-    // This should _only_ be called from _scheduleLoad because that
-    // ensures the that current robot has been removed
-    _loadUrdf(pkg, urdf) {
-
-        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
-
-        if (urdf) {
-
-            // Keep track of this request and make
-            // sure it doesn't get overwritten by
-            // a subsequent one
-            this._requestId++;
-            const requestId = this._requestId;
-
-            const updateMaterials = mesh => {
-
-                mesh.traverse(c => {
-
-                    if (c.isMesh) {
-
-                        c.castShadow = true;
-                        c.receiveShadow = true;
-
-                        if (c.material) {
-
-                            const mats =
-                                (Array.isArray(c.material) ? c.material : [c.material])
-                                    .map(m => {
-
-                                        if (m instanceof THREE.MeshBasicMaterial) {
-
-                                            m = new THREE.MeshPhongMaterial();
-
-                                        }
-
-                                        if (m.map) {
-
-                                            m.map.encoding = THREE.GammaEncoding;
-
-                                        }
-
-                                        return m;
-
-                                    });
-                            c.material = mats.length === 1 ? mats[0] : mats;
-
-                        }
-
-                    }
-
-                });
-
-            };
-
-            if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {
-                // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"}
-
-                // Convert pkg(s) into a map. E.g.
-                // { "pkg_name": "path/to/pkg_name",
-                //   "pk2":      "path2/to/pk2"      }
-
-                pkg = pkg.split(',').reduce((map, value) => {
-
-                    const split = value.split(/:/).filter(x => !!x);
-                    const pkgName = split.shift().trim();
-                    const pkgPath = split.join(':').trim();
-                    map[pkgName] = pkgPath;
-
-                    return map;
-
-                }, {});
-            }
-
-            let robot = null;
-            const manager = new THREE.LoadingManager();
-            manager.onLoad = () => {
-
-                // If another request has come in to load a new
-                // robot, then ignore this one
-                if (this._requestId !== requestId) {
-
-                    robot.traverse(c => c.dispose && c.dispose());
-                    return;
-
-                }
-
-                this.robot = robot;
-                this.world.add(robot);
-                updateMaterials(robot);
-
-                this._setIgnoreLimits(this.ignoreLimits);
-
-                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
-                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
-
-                this.recenter();
-
-            };
-
-            if (this.urlModifierFunc) {
-
-                manager.setURLModifier(this.urlModifierFunc);
-
-            }
-
-            const loader = new URDFLoader(manager);
-            loader.packages = pkg;
-            loader.loadMeshCb = this.loadMeshFunc;
-            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
-            loader.load(urdf, model => robot = model);
-
-        }
-
-    }
-
-    // Watch the coordinate frame and update the
-    // rotation of the scene to match
-    _setUp(up) {
-
-        if (!up) up = '+Z';
-        up = up.toUpperCase();
-        const sign = up.replace(/[^-+]/g, '')[0] || '+';
-        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
-
-        const PI = Math.PI;
-        const HALFPI = PI / 2;
-        if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);
-        if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);
-        if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);
-
-    }
-
-    // Updates the current robot's angles to ignore
-    // joint limits or not
-    _setIgnoreLimits(ignore, dispatch = false) {
-
-        if (this.robot) {
-
-            Object
-                .values(this.robot.joints)
-                .forEach(joint => {
-
-                    joint.ignoreLimits = ignore;
-                    joint.setJointValue(...joint.jointValue);
-
-                });
-
-        }
-
-        if (dispatch) {
-
-            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
-
-        }
-
-    }
-
-};
+import * as THREE from 'three';
+import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
+import URDFLoader from './URDFLoader.js';
+
+const tempVec2 = new THREE.Vector2();
+
+// urdf-viewer element
+// Loads and displays a 3D view of a URDF-formatted robot
+
+// Events
+// urdf-change: Fires when the URDF has finished loading and getting processed
+// urdf-processed: Fires when the URDF has finished loading and getting processed
+// geometry-loaded: Fires when all the geometry has been fully loaded
+// ignore-limits-change: Fires when the 'ignore-limits' attribute changes
+// angle-change: Fires when an angle changes
+export default
+class URDFViewer extends HTMLElement {
+
+    static get observedAttributes() {
+
+        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits'];
+
+    }
+
+    get package() { return this.getAttribute('package') || ''; }
+    set package(val) { this.setAttribute('package', val); }
+
+    get urdf() { return this.getAttribute('urdf') || ''; }
+    set urdf(val) { this.setAttribute('urdf', val); }
+
+    get ignoreLimits() { return this.hasAttribute('ignore-limits') || false; }
+    set ignoreLimits(val) { val ? this.setAttribute('ignore-limits', val) : this.removeAttribute('ignore-limits'); }
+
+    get up() { return this.getAttribute('up') || '+Z'; }
+    set up(val) { this.setAttribute('up', val); }
+
+    get displayShadow() { return this.hasAttribute('display-shadow') || false; }
+    set displayShadow(val) { val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow'); }
+
+    get ambientColor() { return this.getAttribute('ambient-color') || '#455A64'; }
+    set ambientColor(val) { val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color'); }
+
+    get autoRedraw() { return this.hasAttribute('auto-redraw') || false; }
+    set autoRedraw(val) { val ? this.setAttribute('auto-redraw', true) : this.removeAttribute('auto-redraw'); }
+
+    get noAutoRecenter() { return this.hasAttribute('no-auto-recenter') || false; }
+    set noAutoRecenter(val) { val ? this.setAttribute('no-auto-recenter', true) : this.removeAttribute('no-auto-recenter'); }
+
+    get jointValues() {
+
+        const values = {};
+        if (this.robot) {
+
+            for (const name in this.robot.joints) {
+
+                const joint = this.robot.joints[name];
+                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
+
+            }
+
+        }
+
+        return values;
+
+    }
+    set jointValues(val) { this.setJointValues(val); }
+
+    get angles() {
+
+        return this.jointValues;
+
+    }
+    set angles(v) {
+
+        this.jointValues = v;
+
+    }
+
+    /* Lifecycle Functions */
+    constructor() {
+
+        super();
+
+        this._requestId = 0;
+        this._dirty = false;
+        this._loadScheduled = false;
+        this.robot = null;
+        this.loadMeshFunc = null;
+        this.urlModifierFunc = null;
+
+        // Scene setup
+        const scene = new THREE.Scene();
+
+        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');
+        ambientLight.groundColor.lerp(ambientLight.color, 0.5);
+        ambientLight.intensity = 0.5;
+        ambientLight.position.set(0, 1, 0);
+        scene.add(ambientLight);
+
+        // Light setup
+        const dirLight = new THREE.DirectionalLight(0xffffff);
+        dirLight.position.set(4, 10, 1);
+        dirLight.shadow.mapSize.width = 2048;
+        dirLight.shadow.mapSize.height = 2048;
+        dirLight.shadow.normalBias = 0.001;
+        dirLight.castShadow = true;
+        scene.add(dirLight);
+        scene.add(dirLight.target);
+
+        // Renderer setup
+        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+        renderer.setClearColor(0xffffff);
+        renderer.setClearAlpha(0);
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+
+        // Camera setup
+        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
+        camera.position.z = -10;
+
+        // World setup
+        const world = new THREE.Object3D();
+        scene.add(world);
+
+        const plane = new THREE.Mesh(
+            new THREE.PlaneBufferGeometry(40, 40),
+            new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }),
+        );
+        plane.rotation.x = -Math.PI / 2;
+        plane.position.y = -0.5;
+        plane.receiveShadow = true;
+        plane.scale.set(10, 10, 10);
+        scene.add(plane);
+
+        // Controls setup
+        const controls = new OrbitControls(camera, renderer.domElement);
+        controls.rotateSpeed = 2.0;
+        controls.zoomSpeed = 5;
+        controls.panSpeed = 2;
+        controls.enableZoom = true;
+        controls.enableDamping = false;
+        controls.maxDistance = 50;
+        controls.minDistance = 0.25;
+        controls.addEventListener('change', () => this.recenter());
+
+        this.scene = scene;
+        this.world = world;
+        this.renderer = renderer;
+        this.camera = camera;
+        this.controls = controls;
+        this.plane = plane;
+        this.directionalLight = dirLight;
+        this.ambientLight = ambientLight;
+
+        this._setUp(this.up);
+
+        const _renderLoop = () => {
+
+            if (this.parentNode) {
+
+                this.updateSize();
+
+                if (this._dirty || this.autoRedraw) {
+
+                    if (!this.noAutoRecenter) {
+
+                        this._updateEnvironment();
+                    }
+
+                    this.renderer.render(scene, camera);
+                    this._dirty = false;
+
+                }
+
+                // update controls after the environment in
+                // case the controls are retargeted
+                this.controls.update();
+
+            }
+            this._renderLoopId = requestAnimationFrame(_renderLoop);
+
+        };
+        _renderLoop();
+
+    }
+
+    connectedCallback() {
+
+        // Add our initialize styles for the element if they haven't
+        // been added yet
+        if (!this.constructor._styletag) {
+
+            const styletag = document.createElement('style');
+            styletag.innerHTML =
+            `
+                ${ this.tagName } { display: block; }
+                ${ this.tagName } canvas {
+                    width: 100%;
+                    height: 100%;
+                }
+            `;
+            document.head.appendChild(styletag);
+            this.constructor._styletag = styletag;
+
+        }
+
+        // add the renderer
+        if (this.childElementCount === 0) {
+
+            this.appendChild(this.renderer.domElement);
+
+        }
+
+        this.updateSize();
+        requestAnimationFrame(() => this.updateSize());
+
+    }
+
+    disconnectedCallback() {
+
+        cancelAnimationFrame(this._renderLoopId);
+
+    }
+
+    attributeChangedCallback(attr, oldval, newval) {
+
+        this.recenter();
+
+        switch (attr) {
+
+            case 'package':
+            case 'urdf': {
+
+                this._scheduleLoad();
+                break;
+
+            }
+
+            case 'up': {
+
+                this._setUp(this.up);
+                break;
+
+            }
+
+            case 'ambient-color': {
+
+                this.ambientLight.color.set(this.ambientColor);
+                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);
+                break;
+
+            }
+
+            case 'ignore-limits': {
+
+                this._setIgnoreLimits(this.ignoreLimits, true);
+                break;
+
+            }
+
+        }
+
+    }
+
+    /* Public API */
+    updateSize() {
+
+        const r = this.renderer;
+        const w = this.clientWidth;
+        const h = this.clientHeight;
+        const currsize = r.getSize(tempVec2);
+
+        if (currsize.width !== w || currsize.height !== h) {
+
+            this.recenter();
+
+        }
+
+        r.setPixelRatio(window.devicePixelRatio);
+        r.setSize(w, h, false);
+
+        this.camera.aspect = w / h;
+        this.camera.updateProjectionMatrix();
+
+    }
+
+    redraw() {
+
+        this._dirty = true;
+    }
+
+    recenter() {
+
+        this._updateEnvironment();
+        this.redraw();
+
+    }
+
+    // Set the joint with jointName to
+    // angle in degrees
+    setJointValue(jointName, ...values) {
+
+        if (!this.robot) return;
+        if (!this.robot.joints[jointName]) return;
+
+        if (this.robot.joints[jointName].setJointValue(...values)) {
+
+            this.redraw();
+            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
+
+        }
+
+    }
+
+    setJointValues(values) {
+
+        for (const name in values) this.setJointValue(name, values[name]);
+
+    }
+
+    /* Private Functions */
+    // Updates the position of the plane to be at the
+    // lowest point below the robot and focuses the
+    // camera on the center of the scene
+    _updateEnvironment() {
+
+        if (!this.robot) return;
+
+        this.world.updateMatrixWorld();
+
+        const bbox = new THREE.Box3();
+        bbox.setFromObject(this.robot);
+
+        const center = bbox.getCenter(new THREE.Vector3());
+        this.controls.target.y = center.y;
+        this.plane.position.y = bbox.min.y - 1e-3;
+
+        const dirLight = this.directionalLight;
+        dirLight.castShadow = this.displayShadow;
+
+        if (this.displayShadow) {
+
+            // Update the shadow camera rendering bounds to encapsulate the
+            // model. We use the bounding sphere of the bounding box for
+            // simplicity -- this could be a tighter fit.
+            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
+            const minmax = sphere.radius;
+            const cam = dirLight.shadow.camera;
+            cam.left = cam.bottom = -minmax;
+            cam.right = cam.top = minmax;
+
+            // Update the camera to focus on the center of the model so the
+            // shadow can encapsulate it
+            const offset = dirLight.position.clone().sub(dirLight.target.position);
+            dirLight.target.position.copy(center);
+            dirLight.position.copy(center).add(offset);
+
+            cam.updateProjectionMatrix();
+
+        }
+
+    }
+
+    _scheduleLoad() {
+
+        // if our current model is already what's being requested
+        // or has been loaded then early out
+        if (this._prevload === `${ this.package }|${ this.urdf }`) return;
+        this._prevload = `${ this.package }|${ this.urdf }`;
+
+        // if we're already waiting on a load then early out
+        if (this._loadScheduled) return;
+        this._loadScheduled = true;
+
+        if (this.robot) {
+
+            this.robot.traverse(c => c.dispose && c.dispose());
+            this.robot.parent.remove(this.robot);
+            this.robot = null;
+
+        }
+
+        requestAnimationFrame(() => {
+
+            this._loadUrdf(this.package, this.urdf);
+            this._loadScheduled = false;
+
+        });
+
+    }
+
+    // Watch the package and urdf field and load the robot model.
+    // This should _only_ be called from _scheduleLoad because that
+    // ensures the that current robot has been removed
+    _loadUrdf(pkg, urdf) {
+
+        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
+
+        if (urdf) {
+
+            // Keep track of this request and make
+            // sure it doesn't get overwritten by
+            // a subsequent one
+            this._requestId++;
+            const requestId = this._requestId;
+
+            const updateMaterials = mesh => {
+
+                mesh.traverse(c => {
+
+                    if (c.isMesh) {
+
+                        c.castShadow = true;
+                        c.receiveShadow = true;
+
+                        if (c.material) {
+
+                            const mats =
+                                (Array.isArray(c.material) ? c.material : [c.material])
+                                    .map(m => {
+
+                                        if (m instanceof THREE.MeshBasicMaterial) {
+
+                                            m = new THREE.MeshPhongMaterial();
+
+                                        }
+
+                                        if (m.map) {
+
+                                            m.map.encoding = THREE.GammaEncoding;
+
+                                        }
+
+                                        return m;
+
+                                    });
+                            c.material = mats.length === 1 ? mats[0] : mats;
+
+                        }
+
+                    }
+
+                });
+
+            };
+
+            if (pkg.includes(':') && (pkg.split(':')[1].substring(0, 2)) !== '//') {
+                // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"}
+
+                // Convert pkg(s) into a map. E.g.
+                // { "pkg_name": "path/to/pkg_name",
+                //   "pk2":      "path2/to/pk2"      }
+
+                pkg = pkg.split(',').reduce((map, value) => {
+
+                    const split = value.split(/:/).filter(x => !!x);
+                    const pkgName = split.shift().trim();
+                    const pkgPath = split.join(':').trim();
+                    map[pkgName] = pkgPath;
+
+                    return map;
+
+                }, {});
+            }
+
+            let robot = null;
+            const manager = new THREE.LoadingManager();
+            manager.onLoad = () => {
+
+                // If another request has come in to load a new
+                // robot, then ignore this one
+                if (this._requestId !== requestId) {
+
+                    robot.traverse(c => c.dispose && c.dispose());
+                    return;
+
+                }
+
+                this.robot = robot;
+                this.world.add(robot);
+                updateMaterials(robot);
+
+                this._setIgnoreLimits(this.ignoreLimits);
+
+                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
+                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
+
+                this.recenter();
+
+            };
+
+            if (this.urlModifierFunc) {
+
+                manager.setURLModifier(this.urlModifierFunc);
+
+            }
+
+            const loader = new URDFLoader(manager);
+            loader.packages = pkg;
+            loader.loadMeshCb = this.loadMeshFunc;
+            loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+            loader.load(urdf, model => robot = model);
+
+        }
+
+    }
+
+    // Watch the coordinate frame and update the
+    // rotation of the scene to match
+    _setUp(up) {
+
+        if (!up) up = '+Z';
+        up = up.toUpperCase();
+        const sign = up.replace(/[^-+]/g, '')[0] || '+';
+        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
+
+        const PI = Math.PI;
+        const HALFPI = PI / 2;
+        if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);
+        if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);
+        if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);
+
+    }
+
+    // Updates the current robot's angles to ignore
+    // joint limits or not
+    _setIgnoreLimits(ignore, dispatch = false) {
+
+        if (this.robot) {
+
+            Object
+                .values(this.robot.joints)
+                .forEach(joint => {
+
+                    joint.ignoreLimits = ignore;
+                    joint.setJointValue(...joint.jointValue);
+
+                });
+
+        }
+
+        if (dispatch) {
+
+            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
+
+        }
+
+    }
+
+};