urdf-loader 0.10.1 → 0.10.4

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

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

@@ -1,264 +0,0 @@
-# Changelog
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
-and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
-
-## [0.10.1] - 2021-04-16
-### Added
-- Reexport URDF Class types from the root file.
-
-## [0.10.0] - 2021-04-16
-### Fixed
-- `URDFJoint.axis` not correctly defaulting to `1, 0, 0`.
-
-### Changed
-- Added `"type": "module"` to the package.json and made the main entry file point to the es6 module.
-- Export URDF Class types as `interafaces` rather than `classes`.
-- Changed URDF Class type definitions to be exported as `interface` rather than `class`.
- 
-## [0.9.5] - 2021-01-26
-### Added
-- Support for "mimic" joints.
-
-### Fixed
-- Incorrect mouseover and mouseout event firing with the manipulation element.
-
-## [0.9.3] - 2021-01-19
-### Fixed
-- Unnecessary creation of a new quaternion when setting a joint angle.
-- Throw a human readable error when fetch fails.
-- The model failing to clone if the object names were changed.
-
-### Added
-- Ability to set the `packages` option to a function.
-
-## [0.9.2] - 2020-10-23
-### Added
-- Normal bias to shadows in URDFViewerElement.
-
-### Fixed
-- Apply the mesh node scale to the parent visual node rather than the loaded mesh.
-- URDFViewerElement incorrectly calling setJointValue.
-- Incorrectly preserving rotation from loaded meshes.
-
-## [0.9.1] - 2020-10-13
-### Fixed
-- Fix `URDFRobot.setJointValues` not always setting all joint values.
-
-## [0.9.0] - 2020-10-09
-### Added
-- `URDFRobot.frames` map.
-- `URDFRobot.visual` map.
-- `URDFRobot.colliders` map.
-- Visual and collider nodes now get the name of the associated urdf node.
-- Typescript definitions for URDFVisual and URDFCollider objects.
-- `setJointValue` function to `URDFJoint` and `URDFRobot`.
-- `getFrame` function to `URDFRobot`.
-
-### Changed
-- Transparent materials now set `depthWrite` to false.
-- Removed `setOffset`, `setAngles`, and `setAngle` functions from `URDFJoint` and `URDFRobot`.
-
-### Fixed
-- Incorrect use of `worldMatrixNeedsUpdate` to `matrixWorldNeedsUpdate`.
-
-## [0.8.2] - 2020-06-08
-### Changed
-- License text in README to remove unnecessary copy.
-
-## [0.8.1] - 2020-03-12
-### Added
-- Support for processing pre-parsed XML documents to the `parse` function. A `Document` or `Element` object as returned from `DOMParser` may be passed in place of the xml string.
-
-## [0.8.0] - 2020-01-03
-### Changed
-- Moved the URDFLoader options to member variables instead of an object paramter to `parse` and `load` functions.
-- Added `onError` and `onProgress` callbacks to `load` function.
-
-## [0.7.3] - 2019-11-08
-### Fixed
-- Incorrect handling of empty "texture" tags that caused materials to display improperly.
-
-## [0.7.2] - 2019-09-29
-### Changed
-- Caltech license copy.
-
-## [0.7.1] - 2019-06-29
-### Fixed
-- Typescript definition file for URDFLoader.
-
-## [0.7.0] - 2019-06-28
-### Changed
-- Use the jsm versions of the loader modules from three.js.
-- Bump three.js peer dependency to 0.105.0.
-
-## [0.6.3] - 2019-06-28
-### Added
-- Support for parsing collision nodes.
-
-## [0.6.2] - 2019-04-18
-### Added
-- Typescript definition files
-
-## [0.6.1] - 2019-03-06
-### Fixed
-- Continuous joints not being able to rotate.
-- Always parse joint angles to numbers.
-
-## [0.6.0] - 2019-02-23
-### Added
-- Added `setAngle` and `setAngles` function to the Robot node
-- Added `meshLoadFunc` and `urlModifierFunc` functions to `URDFViewer` component.
-
-### Changed
-- Changed `loadMeshCb` function API to take `url`, `manager`, and `done`.
-- Materials defined as "shared" by name in the URDF are shared among meshes, now.
-- The root link is now the same as the URDF Robot object.
-- Moved the `packages` parameter to the options object.
-
-### Removed
-- Removed `urdfLoader` and `loadingManager` fields from `URDFViewer` component.
-
-## [0.5.3] - 2018-12-17
-### Added
-- `matrixWorldNeedsUpdate` is set to true when the URDFJoints are set.
-
-### Fixed
-- Scale being overwritten on models that are loaded with pre-set scale values.
-- Loader not completing if a mesh could not be loaded.
-
-## [0.5.2] - 2018-12-5
-### Added
-- URDF XML Node to URDF Joint, Link, and Robot objects
-- Add clone functionality
-
-### Changed
-- OnComplete callback now fires once all meshes have loaded
-- Removed unnecessary parent when creating a cylinder visual node
-
-## [0.5.1] - 2018-11-14
-### Fixed
-- Use buffer variants of Box and Sphere geometry.
-- Fix the way that roll, pitch, yaw rotations are applied.
-
-## [0.5.0] - 2018-11-01
-### Changed
-- The root scripts are now es6 import compatible and require a build process to use
-
-### Added
-- Backward compatible umd versions of the scripts in `/umd`
-- Support for shared, named materials in the URDF
-
-## [0.4.3] - 2018-10-10
-### Added
-- Add `no-auto-recenter` field to the `urdf-viewer` web component.
-
-## [0.4.2] - 2018-08-19
-### Added
-- Include `example/styles.css`
-
-## [0.4.1] - 2018-08-19
-### Changed
-- README update
-
-## [0.4.0] - 2018-08-19
-### Changed
-- Add "path" variable to parse function signature
-- URDF paths are no longer resolved relative to the package path
-- `parse` function signature changed
-- `parse` returns the robot now
-- `meshLoadCb` and `fetchOptions` have been moved into an `options` argument object
-- Moved all fields from `Object3D.urdf` to the object itself
-- Changed `type` to `jointType`
-
-### Added
-- Add `isURDFRobot`, `isURDFJoint`, `isURDFLink` fields to the robot, joints, and links
-- Set the `type` field of the `Object3D` to `URDFRobot`, `URDFJoint`, and `URDFLink`
-
-### Removed
-- `node` field from the urdf info on joints, links, and the robot
-
-## [0.3.5] - 2018-08-07
-### Added
-- Add support for providing multiple package paths
-
-### Fixed
-- Debounce urdf load so errors are not printed when changing models
-- Create mesh primitives immediately instead of waiting a frame
-
-## [0.3.4] - 2018-07-31
-### Fixed
-- Fixed sphere primitives not being added to the model
-- Fixed cylinder primitive rotation
-
-## [0.3.3] - 2018-07-28
-### Changed
-- Make element auto redraw whenever a texture loads
-
-### Fixed
-- Fix drag and drop file path cleansing in example files
-- Fix console error on drag manipulation in manipulation element
-
-## [0.3.2] - 2018-07-03
-### Changed
-- Add urdf-manipulator element for demo
-
-## [0.3.1] - 2018-07-01
-### Fixed
-- Fix the example input fields not converting to radians
-
-## [0.3.0] - 2018-06-30
-### Changed
-- Model bounding box is used to make better use of shadow map resolution.
-- Fix joint controls still being clickable when hidden
-- Rename `joint.urdf.limits` to `joint.urdf.limit` so it lines up with the URDF definition
-- Full `http://` or `file://` uris are supported (package path is not prepended in this case)
-
-## [0.2.6] - 2018-06-28
-### Fixed
-- Render meshes double sided in shadows
-- Disable shadows casting on model when the shadow display is disabled
-
-## [0.2.5] - 2018-06-28
-### Changed
-- Do not change the material type provided by the mesh loader to MeshLambertMaterial when setting the colors from the URDF.
-- Use a hemisphere light and linear rendering in the element and example
-- Enable better shadow rendering
-
-## [0.2.4] - 2018-06-22
-### Changed
-- Change `urdf-viewer` element `up` attribute to default to +Z so it lines up with the default ROS coordinate frame
-
-### Fixed
-- Fix the default mesh loader throwing an error because `this` was undefined.
-
-## [0.2.3] - 2018-06-22
-### Added
-- Add the `auto-redraw` attribute to the urdf-viewer element
-
-## [0.2.2] - 2018-06-14
-### Added
-- Add `redraw()` function to the viewer element
-- Add flipped variants of the ATHLETE URDF models
-
-### Changed
-- Update example to start at a nicer viewing angle
-- Update some underlying example code
-
-## [0.2.1] - 2018-06-13
-### Changed
-- Optimize rendering in `<urdf-viewer>`
-- Keep the robot in the middle of the screen in `<urdf-viewer>`
-- Adjust the the `<urdf-viewer>` up attribute to line up with the default ROS coordinate frame
-
-### Fixed
-- Meshes not scaling the by mesh tags `scale` attribute
-- Revolute joints rotating the wrong direction
-
-## [0.1.2] - 2018-05-28
-### Added
-- Support for prismatic joints
-
-### Fixed
-- Fix not defaulting revolute joint limits to 0