Three.js components now using javascript modules

 module.exports = function (grunt) {
     "use strict";
     
+    let shim = function(obj) { return `\nexport default ${obj};\n`; };
+
 // Project configuration.
     grunt.initConfig({
         pkg: grunt.file.readJSON('package.json'),
@@ -80,6 +82,37 @@ module.exports = function (grunt) {
             }
             
         },
+        file_append: {
+            default_options: {
+                files: [
+                    {
+                        append: shim('AR'),
+                        prepend: `import CV from '../cv/index.js';\n`,
+                        input: './deps/aruco/index.js'
+                    },
+                    {
+                        append: shim('CV'), 
+                        input: './deps/cv/index.js'
+                    }
+                ]
+            }            
+        },
+        'string-replace': {
+            dist: {
+                files: {
+                    'deps/objloader/objloader.js': 'deps/objloader/index.js',
+                    'deps/mtlloader/mtlloader.js': 'deps/mtlloader/index.js',
+                    'deps/ddsloader/ddsloader.js': 'deps/ddsloader/index.js'
+                },
+                options: {
+                    replacements:[{                      
+                        pattern: '../../../build/three.module.js',
+                        replacement: '../three.js/index.js'
+                    }]                    
+                }                
+                
+            }                        
+        },        
 	    concat: {
             dist: {
                 src: [
@@ -122,9 +155,13 @@ module.exports = function (grunt) {
     grunt.loadNpmTasks('grunt-jslint');
     grunt.loadNpmTasks('grunt-terser');
     grunt.loadNpmTasks('grunt-bower-task');
+    grunt.loadNpmTasks('grunt-file-append');
+    grunt.loadNpmTasks('grunt-string-replace');
 
     // Default task(s).
     grunt.registerTask('default', ['concat','copy','terser']);
     grunt.registerTask('lint', ['jslint']);
     grunt.registerTask('doc', ['jsdoc']);
+    grunt.registerTask('install-deps', ['bower', 'file_append', 'string-replace']);
+    
 };

 {
     "name": "ARCS",
-    "version": "0.1.0",
+    "version": "0.2.0",
     "description": "Augmented Reality Component System in web browser and node environment",
     "main": "build/arcs.js",
     "keywords": [
@@ -11,10 +11,10 @@
     "license": "GPL",
     "dependencies": {
         "tracking.js": "*",
-        "three.js": "https://raw.githubusercontent.com/mrdoob/three.js/r68/build/three.min.js",
-        "objloader" : "https://raw.githubusercontent.com/mrdoob/three.js/r68/examples/js/loaders/OBJLoader.js",
-        "mtlloader": "https://raw.githubusercontent.com/mrdoob/three.js/r68/examples/js/loaders/MTLLoader.js",
-        "objmtlloader": "https://raw.githubusercontent.com/mrdoob/three.js/r68/examples/js/loaders/OBJMTLLoader.js",
+        "three.js": "https://raw.githubusercontent.com/mrdoob/three.js/r116/build/three.module.js",
+        "objloader" : "https://raw.githubusercontent.com/mrdoob/three.js/r116/examples/jsm/loaders/OBJLoader.js",
+        "mtlloader" : "https://raw.githubusercontent.com/mrdoob/three.js/r116/examples/jsm/loaders/MTLLoader.js",
+        "ddsloader" : "https://raw.githubusercontent.com/mrdoob/three.js/r116/examples/jsm/loaders/DDSLoader.js",
         "aruco": "https://raw.githubusercontent.com/jcmellado/js-aruco/master/src/aruco.js",
         "cv": "https://raw.githubusercontent.com/jcmellado/js-aruco/master/src/cv.js",
         "codemirror" : "*",

-var ARCS=ARCS||{};ARCS.isInNode=function(){return"function"==typeof require&&require.resolve},ARCS.Component={SourceIsNotComponent:{message:"Source is not a component"},UndefinedSignal:{message:"Signal is not defined"},UndefinedSlot:{message:"Slot is not defined"},create:function(n,t,e){return void 0===n.prototype?(console.error("Cannot create such a component"),0):(n.prototype.slots=[],n.prototype.signals={},n.slotList=function(){return n.prototype.slots},n.prototype.slotList=function(){return n.prototype.slots},n.prototype.signalList=function(){var t,e=[];for(t in n.prototype.signals)e.push(t);return e},n.signalList=function(){return n.prototype.signalList()},n.prototype.emit=function(n){var t,e,o,i=Array.prototype.slice.call(arguments,1);for(t in this.signals[n])e=this.signals[n][t].func,o=this.signals[n][t].obj,e.apply(o,i)},n.slot=function(t,e){var o;if(t instanceof Array)for(o=0;o<t.length;o++)n.prototype.slots.push(t[o]);else n.prototype.slots.push(t),void 0!==e&&(n.prototype[t]=e)},n.signal=function(t){var e;if(t instanceof Array)for(e=0;e<t.length;e++)n.prototype.signals[t[e]]=1;else n.prototype.signals[t]=1},void 0!==t&&n.slot(t),void 0!==e&&n.signal(e),n)},check:function(n){return void 0!==n.prototype&&(void 0!==n.prototype.signals&&void 0!==n.prototype.slots)},connect:function(n,t,e,o){var i,r;if(void 0===n.signals)throw ARCS.Component.SourceIsNotComponent;if(void 0===n.signals[t])throw ARCS.Component.UndefinedSignal;if(void 0===e[o])throw ARCS.Component.UndefinedSlot;if(!n.hasOwnProperty("signals"))for(r in i=n.signals,n.signals={},i)n.signals[r]=[];n.signals[t].push({obj:e,func:e[o]})},disconnect:function(n,t,e,o){var i;for(i=0;i<n.signals[t].length;i++)n.signals[t][i].obj===e&&n.signals[t][i].func===e[o]&&(n.signals[t].splice(i,1),i--)},invoke:function(n,t,e){if(void 0===n[t])throw ARCS.Component.UndefinedSlot;n[t].apply(n,e)},config:function(n,t){"function"==typeof n.config&&n.config(t)}},ARCS.Context=function(n){var t={},e={},o={},i=[],r=this;if(o.StateMachine=ARCS.Statemachine,void 0!==n){var s;for(s in i=n.libraries,n.components)n.components.hasOwnProperty(s)&&(t[s]=n.components[s]);if(void 0!==n.constants)for(s in n.constants)n.constants.hasOwnProperty(s)&&(e[s]=n.constants[s])}var c=async function(n){return ARCS.isInNode()?new Promise((function(t,e){var o=require(n);void 0!==o?t(o):e("[ARCS] File not found")})):(await fetch(n)).json()},a=function(){var n,r=[];for(n in t)if(t.hasOwnProperty(n)){if(void 0===o[t[n].type])return console.error("[ARCS] Factory "+t[n].type+" not found."),void console.error("[ARCS] Context dump follows: ",i,t,e);var s=o[t[n].type];try{if(void 0!==t[n].value||void 0!==t[n].url||void 0!==t[n].ref){if(void 0!==t[n].value&&(t[n].instance=new s(t[n].value)),void 0!==t[n].url){console.log("loading data file",t[n].url),r.push(c(t[n].url).then(function(n,e){return function(o){return console.log("instanciating from data file"),t[n].instance=new e(o),Promise.resolve()}}(n,s)))}void 0!==t[n].ref&&void 0!==e[t[n].ref]&&(t[n].instance=new s(e[t[n].ref]))}else t[n].instance=new s}catch(t){console.error("[ARCS] Component of type ",n," not instanciated.",t)}}return Promise.all(r)};this.loadLibrary=function(n,t){var e=n,o=n;return ARCS.Context.currentContext=r,"string"!=typeof n&&(o=n.name,e=n.url),i.indexOf(o)<0&&i.push(o),import(e).then((function(n){for(s in n.default)n.default.hasOwnProperty(s)&&ARCS.Context.currentContext.setFactory(s,n.default[s]);void 0!==t&&t()})).catch((function(n){console.error("[ARCS] Trouble loading '",e,"' with reason -",n)}))},this.getComponentList=function(){var n,e=Object.keys(t);for(n=0;n<e.length;n++)t.hasOwnProperty(e[n])||e.splice(n--,1);return e},this.getConstant=function(n){return e[n]},this.getComponentType=function(n){if(void 0!==t[n])return t[n].type},this.getComponentValue=function(n){if(void 0!==t[n])return t[n].value},this.getComponent=function(n){if(void 0!==t[n])return t[n].instance},this.getComponentName=function(n){var e,o;for(o=t.getComponentList(),e=0;e<o.length;e++)if(t[o[e]].instance===n)return o[e]},this.setFactory=function(n,t){o[n]=t},this.toJSON=function(){var n,e={};for(n in t)t.hasOwnProperty(n)&&(e[n]={type:t[n].type,value:t[n].value});return e},this.setComponentValue=function(n,e){t[n].value=e},this.addComponent=function(n,e,i){var r;t[n]={},t[n].type=e,t[n].value=i;var s=o[e];void 0!==s&&(r=new s(i)),t[n].instance=r},this.removeComponent=function(n){delete t[n]},this.getFactory=function(n){return o[n]},this.getFactoryList=function(){return Object.keys(o)},this.instanciate=function(){return function(){var n;ARCS.Context.currentContext=r;var t=[];for(n=0;n<i.length;n++)t.push(r.loadLibrary(i[n]));return Promise.all(t)}().then(a).catch((function(n){console.error("[ARCS] Trouble instanciating context",n)}))};var u=function(n,t){var e,o=Object.create(t);for(e in n)n.hasOwnProperty(e)&&(o[e]=n[e]);return o};this.chain=function(n,i,r){return[u(n,t),u(i,e),u(r,o)]},this.setParent=function(n){if(void 0!==n){var i=n.chain(t,e,o);t=i[0],e=i[1],o=i[2]}}},ARCS.Context.currentContext=null,ARCS.Invocation=function(n,t,e){this.getDestination=function(){return n},this.getSlot=function(){return t},this.getValue=function(){return e},this.invoke=function(){var o=n[t];void 0!==o?o.apply(n,e):console.error("Undefined slot %s of component %s",t,n)}},ARCS.Invocation.cast=function(n,t){if(void 0!==n.value){var e=t.getComponent(n.destination);return void 0===e&&console.error("[ARCS] Destination ",n.destination," is undefined"),new ARCS.Invocation(e,n.slot,n.value)}if(void 0!==n.ref)return new ARCS.Invocation(t.getComponent(n.destination),n.slot,t.getConstant(n.ref))},ARCS.Invocation.PRE_CONNECTION=0,ARCS.Invocation.POST_CONNECTION=1,ARCS.Invocation.CLEAN_UP=2,ARCS.Connection=function(n,t,e,o){this.connect=function(){try{ARCS.Component.connect(n,t,e,o)}catch(i){console.log(i,n,t,e,o)}},this.disconnect=function(){ARCS.Component.disconnect(n,t,e,o)},this.getSource=function(){return n},this.getDestination=function(){return e},this.getSlot=function(){return o},this.getSignal=function(){return t}},ARCS.Connection.cast=function(n,t){return new ARCS.Connection(t.getComponent(n.source),n.signal,t.getComponent(n.destination),n.slot)},ARCS.Sheet=function(n){var t,e,o,i,r,s=new ARCS.Context,c=[],a=[],u=[],f=[],l=0,p=0,h=0,C=0;t=function(){var n;for(n=0;n<c.length;n++)c[n].invoke()},e=function(){var n;for(n=0;n<a.length;n++)a[n].invoke()},o=function(){var n;for(n=0;n<u.length;n++)u[n].invoke()},i=function(){var n;for(n=0;n<f.length;n++)f[n].connect()},r=function(){var n;for(n=0;n<f.length;n++)f[n].disconnect()},this.setContext=function(n){s=n},this.activate=function(){s.instanciate().then((function(){t(),i(),e()}))},this.deactivate=function(){r(),o()},this.addPreConnection=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=l++,c.push(t),t.id},this.addPostConnection=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=p++,a.push(t),t.id},this.addCleanup=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=h++,u.push(t),t.id},this.addConnection=function(n){var t=ARCS.Connection.cast(n,s);return t.id=C++,f.push(t),t.id};var d=function(n,t){for(var e=t.length;e--&&t[e].id!==n;);e>=0?t.splice(e,1):console.warn("Could not remove data with id",n)};this.removePreConnection=function(n){d(n,c)},this.removePostConnection=function(n){d(n,a)},this.removeCleanup=function(n){d(n,u)};var v=function(n,t,e){for(var o=e.length;o--&&e[o].id!==n;);o>=0&&(e[o].value=t)};this.changePreConnection=function(n,t){v(n,t,c)},this.changePostConnection=function(n,t){v(n,t,a)},this.changeCleanup=function(n,t){v(n,t,u)},this.removeConnection=function(n){d(n,f)};var g=function(n,t,e){for(var o,i=e.length,r=e.length;i--&&e[i].id!==n;);for(;r--&&e[r].id!==t;);i>=0&&r>=0&&(o=e[i],e[i]=e[r],e[r]=o,e[i].id=n,e[r].id=t)};this.swapConnections=function(n,t){g(n,t,f)},this.swapCleanups=function(n,t){g(n,t,u)},this.swapPreConnections=function(n,t){g(n,t,c)},this.swapPostConnections=function(n,t){g(n,t,a)};this.import=function(t){t.hasOwnProperty("context")&&(s=new ARCS.Context(t.context)).setParent(n),s.instanciate().then((function(){!function(n){var t=0,e=ARCS.Invocation.cast,o=ARCS.Connection.cast;for(t=0;t<n.preconnections.length;t++)c.push(e(n.preconnections[t],s));for(t=0;t<n.postconnections.length;t++)a.push(e(n.postconnections[t],s));for(t=0;t<n.cleanups.length;t++)u.push(e(n.cleanups[t],s));for(t=0;t<n.connections.length;t++)f.push(o(n.connections[t],s))}(t)}))};var S=function(n){return{destination:s.getComponentName(n.getDestination()),slot:n.getSlot(),value:n.getValue()}};this.toJSON=function(){var n,t,e=[],o=[],i=[],r=[];for(n=0;n<f.length;n++)i.push((t=f[n],{source:s.getComponentName(t.getSource()),signal:t.getSignal(),destination:s.getComponentName(t.getDestination()),slot:t.getSlot()}));for(n=0;n<c.length;n++)e.push(S(c[n]));for(n=0;n<a.length;n++)o.push(S(a[n]));for(n=0;n<u.length;n++)r.push(S(u[n]));return{preconnections:e,postconnections:o,connections:i,cleanups:r}},s.setParent(n)},ARCS.EventLogicParser=function(){function 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n,e;for(n=[],T.test(t.charAt(b))?(e=t.charAt(b),b++):(e=i,0===L&&_(N));e!==i;)n.push(e),T.test(t.charAt(b))?(e=t.charAt(b),b++):(e=i,0===L&&_(N));return n}if((e=s())!==i&&b===t.length)return e;throw e!==i&&b<t.length&&_({type:"end",description:"end of input"}),q(null,E,I)}}}(),ARCS.TokenEvent=function(){var n,t;this.promise=new Promise((function(e,o){n=e,t=o})),this.accept=function(){n()},this.abort=function(){t()}},ARCS.TransitionNetwork=function(){this.promise={},this.and=function(n){return this.promise=Promise.all([this.promise,n.promise]),this},this.or=function(n){return this.promise=Promise.race([this.promise,n.promise]),this}},ARCS.TransitionNetwork.build=function(n,t){var e,o,r;if("string"==typeof n){var s;t.hasOwnProperty(n)?s=t[n]:t[n]=s=new ARCS.TokenEvent;var c=new ARCS.TransitionNetwork;return c.promise=s.promise,c}for(e=ARCS.TransitionNetwork.build(n[0],t),i=1;i<n.length;i++)n[i].hasOwnProperty("and")?(r=ARCS.TransitionNetwork.build(n[i].and,t),o=e.and(r)):n[i].hasOwnProperty("or")?(r=ARCS.TransitionNetwork.build(n[i].or,t),o=e.or(r)):console.warn("[ARCS] Illegal tree"),e=o;return e},ARCS.Statemachine=new ARCS.Component.create((function(n){var t="",e="",o={},i="",r=this,s={},c={},a=function(n){var t;r.slots.indexOf(n)<0&&(r.slots.push(n),r[n]=(t=n,function(){r.setToken(t)}))},u=function(n){var t;if(o.hasOwnProperty(n))for(t in c={},o[n])o[n].hasOwnProperty(t)&&ARCS.TransitionNetwork.build(s[t],c).promise.then((function(){var e;for(e in c)c.hasOwnProperty(e)&&c[e].abort();u(o[n][t])}));i=n,r.emit("requestSheet",i),i===e&&r.emit("requestTermination")};this.setInitialState=function(n){i=t=n},this.setFinalState=function(n){e=n},this.addTransition=function(n,t,e){var i,r=/([A-Za-z_]\w*)/g;try{var c;if("string"==typeof(c=ARCS.EventLogicParser.parse(t)))a(c);else for(;null!==(i=r.exec(t));)a(i[0]);s[t]=c,void 0===o[n]&&(o[n]={}),o[n][t]=e}catch(n){}},this.setToken=function(n){c.hasOwnProperty(n)&&c[n].accept()},this.setTransitions=function(n){var t,e;for(t in n)if(n.hasOwnProperty(t))for(e in n[t])n[t].hasOwnProperty(e)&&this.addTransition(t,e,n[t][e])},this.start=function(){console.log("statemachine",this,t,n),u(t)},void 0!==n&&(t=n.initial,e=n.final,this.setTransitions(n.transitions),i="")}),["setToken"],["requestSheet","requestTermination"]),ARCS.Application=function(){var n,t=new ARCS.Context,e={},o={},i=[],r=this,s="";this.export=function(){return{context:t,controller:t.getComponentName(o),sheets:e}},this.getContext=function(){return t},this.getSheetList=function(){return Object.keys(e)},this.getSheet=function(n){return e[n]},this.addSheet=function(n,o){e[n]=o,o.setContext(t)},this.removeSheet=function(n){delete e[n]},n=function(){var n,i,s;for(i=t.getComponent(o),o=i,s=Object.keys(e),n=0;n<s.length;n++)(i=new ARCS.Sheet(t)).import(e[s[n]],t),e[s[n]]=i;ARCS.Component.connect(o,"requestSheet",r,"setSheet"),ARCS.Component.connect(o,"requestTermination",r,"finish"),o.start()},this.setController=function(n){o=t.getComponent(n)},this.setSheet=function(n){e.hasOwnProperty(n)?(s&&e[s].deactivate(),e[s=n].activate()):console.warn("[ARCS] Tried to activate hollow sheet named: "+n)},this.finish=function(){s&&e[s].deactivate()},this.import=function(n){t=new ARCS.Context(n.context),e=n.sheets,void 0===(o=n.controller)&&console.error("[ARCS] Undefined controller. Cannot start application.")},this.setFactory=function(n,t){factories[n]=t},this.setDependency=function(n){i[n]={}},this.start=function(){console.log("[ARCS] Starting application..."),t.instanciate().then(n)}},ARCS.Application.setDependency=function(n,t){n.setDependency(t)},ARCS.Component.create(ARCS.Application),ARCS.Application.slot("setSheet"),ARCS.Application.slot("finish");export{ARCS as default};
\ No newline at end of file
+var ARCS=ARCS||{};ARCS.isInNode=function(){return"function"==typeof require&&require.resolve},ARCS.Component={SourceIsNotComponent:{message:"Source is not a component"},UndefinedSignal:{message:"Signal is not defined"},UndefinedSlot:{message:"Slot is not defined"},create:function(n,t,e){return void 0===n.prototype?(console.error("Cannot create such a component"),0):(n.prototype.slots=[],n.prototype.signals={},n.slotList=function(){return n.prototype.slots},n.prototype.slotList=function(){return n.prototype.slots},n.prototype.signalList=function(){var t,e=[];for(t in n.prototype.signals)e.push(t);return e},n.signalList=function(){return n.prototype.signalList()},n.prototype.emit=function(n){var t,e,o,i=Array.prototype.slice.call(arguments,1);for(t in this.signals[n])e=this.signals[n][t].func,o=this.signals[n][t].obj,e.apply(o,i)},n.slot=function(t,e){var o;if(t instanceof Array)for(o=0;o<t.length;o++)n.prototype.slots.push(t[o]);else n.prototype.slots.push(t),void 0!==e&&(n.prototype[t]=e)},n.signal=function(t){var e;if(t instanceof Array)for(e=0;e<t.length;e++)n.prototype.signals[t[e]]=1;else n.prototype.signals[t]=1},void 0!==t&&n.slot(t),void 0!==e&&n.signal(e),n)},check:function(n){return void 0!==n.prototype&&(void 0!==n.prototype.signals&&void 0!==n.prototype.slots)},connect:function(n,t,e,o){var i,r;if(void 0===n.signals)throw ARCS.Component.SourceIsNotComponent;if(void 0===n.signals[t])throw ARCS.Component.UndefinedSignal;if(void 0===e[o])throw ARCS.Component.UndefinedSlot;if(!n.hasOwnProperty("signals"))for(r in i=n.signals,n.signals={},i)n.signals[r]=[];n.signals[t].push({obj:e,func:e[o]})},disconnect:function(n,t,e,o){var i;for(i=0;i<n.signals[t].length;i++)n.signals[t][i].obj===e&&n.signals[t][i].func===e[o]&&(n.signals[t].splice(i,1),i--)},invoke:function(n,t,e){if(void 0===n[t])throw ARCS.Component.UndefinedSlot;n[t].apply(n,e)},config:function(n,t){"function"==typeof n.config&&n.config(t)}},ARCS.Context=function(n){var t={},e={},o={},i=[],r=this;if(o.StateMachine=ARCS.Statemachine,void 0!==n){var s;for(s in i=n.libraries,n.components)n.components.hasOwnProperty(s)&&(t[s]=n.components[s]);if(void 0!==n.constants)for(s in n.constants)n.constants.hasOwnProperty(s)&&(e[s]=n.constants[s])}var c=async function(n){return ARCS.isInNode()?new Promise((function(t,e){var o=require(n);void 0!==o?t(o):e("[ARCS] File not found")})):(await fetch(n)).json()},a=function(){var n,r=[];for(n in t)if(t.hasOwnProperty(n)){if(void 0===o[t[n].type])return console.error("[ARCS] Factory "+t[n].type+" not found."),void console.error("[ARCS] Context dump follows: ",i,t,e);var s=o[t[n].type];try{if(void 0!==t[n].value||void 0!==t[n].url||void 0!==t[n].ref){if(void 0!==t[n].value&&(t[n].instance=new s(t[n].value)),void 0!==t[n].url){console.log("loading data file",t[n].url),r.push(c(t[n].url).then(function(n,e){return function(o){return console.log("instanciating from data file"),t[n].instance=new e(o),Promise.resolve()}}(n,s)))}void 0!==t[n].ref&&void 0!==e[t[n].ref]&&(t[n].instance=new s(e[t[n].ref]))}else t[n].instance=new s}catch(t){console.error("[ARCS] Component of type ",n," not instanciated.",t)}}return Promise.all(r)};this.loadLibrary=function(n,t){var e=n,o=n;return ARCS.Context.currentContext=r,"string"!=typeof n&&(o=n.name,e=n.url),i.indexOf(o)<0&&i.push(o),import(e).then((function(n){for(s in n.default)n.default.hasOwnProperty(s)&&ARCS.Context.currentContext.setFactory(s,n.default[s]);void 0!==t&&t()})).catch((function(n){console.error("[ARCS] Trouble loading '",e,"' with reason -",n)}))},this.getComponentList=function(){var n,e=Object.keys(t);for(n=0;n<e.length;n++)t.hasOwnProperty(e[n])||e.splice(n--,1);return e},this.getConstant=function(n){return e[n]},this.getComponentType=function(n){if(void 0!==t[n])return t[n].type},this.getComponentValue=function(n){if(void 0!==t[n])return t[n].value},this.getComponent=function(n){if(void 0!==t[n])return t[n].instance},this.getComponentName=function(n){var e,o;for(o=t.getComponentList(),e=0;e<o.length;e++)if(t[o[e]].instance===n)return o[e]},this.setFactory=function(n,t){o[n]=t},this.toJSON=function(){var n,e={};for(n in t)t.hasOwnProperty(n)&&(e[n]={type:t[n].type,value:t[n].value});return e},this.setComponentValue=function(n,e){t[n].value=e},this.addComponent=function(n,e,i){var r;t[n]={},t[n].type=e,t[n].value=i;var s=o[e];void 0!==s&&(r=new s(i)),t[n].instance=r},this.removeComponent=function(n){delete t[n]},this.getFactory=function(n){return o[n]},this.getFactoryList=function(){return Object.keys(o)},this.instanciate=function(){
+//! TODO
+return function(){var n;ARCS.Context.currentContext=r;var t=[];for(n=0;n<i.length;n++)t.push(r.loadLibrary(i[n]));return Promise.all(t)}().then(a).catch((function(n){console.error("[ARCS] Trouble instanciating context",n)}))};var u=function(n,t){var e,o=Object.create(t);for(e in n)n.hasOwnProperty(e)&&(o[e]=n[e]);return o};this.chain=function(n,i,r){return[u(n,t),u(i,e),u(r,o)]},this.setParent=function(n){if(void 0!==n){var i=n.chain(t,e,o);t=i[0],e=i[1],o=i[2]}}},ARCS.Context.currentContext=null,ARCS.Invocation=function(n,t,e){this.getDestination=function(){return n},this.getSlot=function(){return t},this.getValue=function(){return e},this.invoke=function(){var o=n[t];void 0!==o?o.apply(n,e):console.error("Undefined slot %s of component %s",t,n)}},ARCS.Invocation.cast=function(n,t){if(void 0!==n.value){var e=t.getComponent(n.destination);return void 0===e&&console.error("[ARCS] Destination ",n.destination," is undefined"),new ARCS.Invocation(e,n.slot,n.value)}if(void 0!==n.ref)return new ARCS.Invocation(t.getComponent(n.destination),n.slot,t.getConstant(n.ref))},ARCS.Invocation.PRE_CONNECTION=0,ARCS.Invocation.POST_CONNECTION=1,ARCS.Invocation.CLEAN_UP=2,ARCS.Connection=function(n,t,e,o){this.connect=function(){try{ARCS.Component.connect(n,t,e,o)}catch(i){console.log(i,n,t,e,o)}},this.disconnect=function(){ARCS.Component.disconnect(n,t,e,o)},this.getSource=function(){return n},this.getDestination=function(){return e},this.getSlot=function(){return o},this.getSignal=function(){return t}},ARCS.Connection.cast=function(n,t){return new ARCS.Connection(t.getComponent(n.source),n.signal,t.getComponent(n.destination),n.slot)},ARCS.Sheet=function(n){var t,e,o,i,r,s=new ARCS.Context,c=[],a=[],u=[],f=[],l=0,p=0,h=0,C=0;t=function(){var n;for(n=0;n<c.length;n++)c[n].invoke()},e=function(){var n;for(n=0;n<a.length;n++)a[n].invoke()},o=function(){var n;for(n=0;n<u.length;n++)u[n].invoke()},i=function(){var n;for(n=0;n<f.length;n++)f[n].connect()},r=function(){var n;for(n=0;n<f.length;n++)f[n].disconnect()},this.setContext=function(n){s=n},this.activate=function(){s.instanciate().then((function(){t(),i(),e()}))},this.deactivate=function(){r(),o()},this.addPreConnection=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=l++,c.push(t),t.id},this.addPostConnection=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=p++,a.push(t),t.id},this.addCleanup=function(n){var t=ARCS.Invocation.cast(n,s);return t.id=h++,u.push(t),t.id},this.addConnection=function(n){var t=ARCS.Connection.cast(n,s);return t.id=C++,f.push(t),t.id};var d=function(n,t){for(var e=t.length;e--&&t[e].id!==n;);e>=0?t.splice(e,1):console.warn("Could not remove data with id",n)};this.removePreConnection=function(n){d(n,c)},this.removePostConnection=function(n){d(n,a)},this.removeCleanup=function(n){d(n,u)};var v=function(n,t,e){for(var o=e.length;o--&&e[o].id!==n;);o>=0&&(e[o].value=t)};this.changePreConnection=function(n,t){v(n,t,c)},this.changePostConnection=function(n,t){v(n,t,a)},this.changeCleanup=function(n,t){v(n,t,u)},this.removeConnection=function(n){d(n,f)};var g=function(n,t,e){for(var o,i=e.length,r=e.length;i--&&e[i].id!==n;);for(;r--&&e[r].id!==t;);i>=0&&r>=0&&(o=e[i],e[i]=e[r],e[r]=o,e[i].id=n,e[r].id=t)};this.swapConnections=function(n,t){g(n,t,f)},this.swapCleanups=function(n,t){g(n,t,u)},this.swapPreConnections=function(n,t){g(n,t,c)},this.swapPostConnections=function(n,t){g(n,t,a)};this.import=function(t){t.hasOwnProperty("context")&&(s=new ARCS.Context(t.context)).setParent(n),s.instanciate().then((function(){!function(n){var t=0,e=ARCS.Invocation.cast,o=ARCS.Connection.cast;for(t=0;t<n.preconnections.length;t++)c.push(e(n.preconnections[t],s));for(t=0;t<n.postconnections.length;t++)a.push(e(n.postconnections[t],s));for(t=0;t<n.cleanups.length;t++)u.push(e(n.cleanups[t],s));for(t=0;t<n.connections.length;t++)f.push(o(n.connections[t],s))}(t)}))};var S=function(n){return{destination:s.getComponentName(n.getDestination()),slot:n.getSlot(),value:n.getValue()}};this.toJSON=function(){var n,t,e=[],o=[],i=[],r=[];for(n=0;n<f.length;n++)i.push((t=f[n],{source:s.getComponentName(t.getSource()),signal:t.getSignal(),destination:s.getComponentName(t.getDestination()),slot:t.getSlot()}));for(n=0;n<c.length;n++)e.push(S(c[n]));for(n=0;n<a.length;n++)o.push(S(a[n]));for(n=0;n<u.length;n++)r.push(S(u[n]));return{preconnections:e,postconnections:o,connections:i,cleanups:r}},s.setParent(n)},ARCS.EventLogicParser=function(){function n(n,t,e,o,i,r){this.message=n,this.expected=t,this.found=e,this.offset=o,this.line=i,this.column=r,this.name="SyntaxError"}return function(n,t){function e(){this.constructor=n}e.prototype=t.prototype,n.prototype=new e}(n,Error),{SyntaxError:n,parse:function(t){var e,o=arguments.length>1?arguments[1]:{},i={},r={start:U},s=U,c=i,a=function(n,t){return[n].concat(t)},u=function(n){return{and:n}},f=function(n){return{or:n}},l=function(n){return n},p="(",h={type:"literal",value:"(",description:'"("'},C=")",d={type:"literal",value:")",description:'")"'},v=function(n){return[n]},g={type:"other",description:"id"},S=function(n){return n.trim()},A=/^[_a-zA-Z]/,m={type:"class",value:"[_a-zA-Z]",description:"[_a-zA-Z]"},y=/^[_a-zA-Z0-9]/,R={type:"class",value:"[_a-zA-Z0-9]",description:"[_a-zA-Z0-9]"},w="&",x={type:"literal",value:"&",description:'"&"'},P="|",O={type:"literal",value:"|",description:'"|"'},T=/^[ \r\n\t]/,N={type:"class",value:"[ \\r\\n\\t]",description:"[ \\r\\n\\t]"},b=0,k=0,F={line:1,column:1,seenCR:!1},I=0,E=[],L=0;if("startRule"in o){if(!(o.startRule in r))throw new Error("Can't start parsing from rule \""+o.startRule+'".');s=r[o.startRule]}function j(n){return k!==n&&(k>n&&(k=0,F={line:1,column:1,seenCR:!1}),function(n,e,o){var i,r;for(i=e;i<o;i++)"\n"===(r=t.charAt(i))?(n.seenCR||n.line++,n.column=1,n.seenCR=!1):"\r"===r||"\u2028"===r||"\u2029"===r?(n.line++,n.column=1,n.seenCR=!0):(n.column++,n.seenCR=!1)}(F,k,n),k=n),F}function _(n){b<I||(b>I&&(I=b,E=[]),E.push(n))}function q(e,o,i){var r=j(i),s=i<t.length?t.charAt(i):null;return null!==o&&function(n){var t=1;for(n.sort((function(n,t){return n.description<t.description?-1:n.description>t.description?1:0}));t<n.length;)n[t-1]===n[t]?n.splice(t,1):t++}(o),new n(null!==e?e:function(n,t){var e,o=new Array(n.length);for(e=0;e<n.length;e++)o[e]=n[e].description;return"Expected "+(n.length>1?o.slice(0,-1).join(", ")+" or "+o[n.length-1]:o[0])+" but "+(t?'"'+function(n){function t(n){return n.charCodeAt(0).toString(16).toUpperCase()}return n.replace(/\\/g,"\\\\").replace(/"/g,'\\"').replace(/\x08/g,"\\b").replace(/\t/g,"\\t").replace(/\n/g,"\\n").replace(/\f/g,"\\f").replace(/\r/g,"\\r").replace(/[\x00-\x07\x0B\x0E\x0F]/g,(function(n){return"\\x0"+t(n)})).replace(/[\x10-\x1F\x80-\xFF]/g,(function(n){return"\\x"+t(n)})).replace(/[\u0180-\u0FFF]/g,(function(n){return"\\u0"+t(n)})).replace(/[\u1080-\uFFFF]/g,(function(n){return"\\u"+t(n)}))}(t)+'"':"end of input")+" found."}(o,s),o,s,i,r.line,r.column)}function U(){return D()}function D(){var n,t,e,o;if(n=b,(t=Z())!==i){if(e=[],(o=z())!==i)for(;o!==i;)e.push(o),o=z();else e=c;e!==i?(n,n=t=a(t,e)):(b=n,n=c)}else b=n,n=c;return n===i&&(n=Z()),n}function z(){var n,t;return n=b,B()!==i&&(t=Z())!==i?(n,n=u(t)):(b=n,n=c),n===i&&(n=b,M()!==i&&(t=Z())!==i?(n,n=f(t)):(b=n,n=c)),n}function Z(){var n,e,o,r;return n=b,(e=V())!==i&&(n,e=l(e)),(n=e)===i&&(n=b,40===t.charCodeAt(b)?(e=p,b++):(e=i,0===L&&_(h)),e!==i&&(o=D())!==i?(41===t.charCodeAt(b)?(r=C,b++):(r=i,0===L&&_(d)),r!==i?(n,n=e=v(o)):(b=n,n=c)):(b=n,n=c)),n}function V(){var n,e,o;return L++,n=b,e=b,(o=J())!==i&&(o=t.substring(e,b)),(e=o)!==i&&(n,e=S(e)),L--,(n=e)===i&&(e=i,0===L&&_(g)),n}function J(){var n,e,o,r,s;if(n=b,(e=G())!==i)if(A.test(t.charAt(b))?(o=t.charAt(b),b++):(o=i,0===L&&_(m)),o!==i){for(r=[],y.test(t.charAt(b))?(s=t.charAt(b),b++):(s=i,0===L&&_(R));s!==i;)r.push(s),y.test(t.charAt(b))?(s=t.charAt(b),b++):(s=i,0===L&&_(R));r!==i&&(s=G())!==i?n=e=[e,o,r,s]:(b=n,n=c)}else b=n,n=c;else b=n,n=c;return n}function B(){var n,e,o,r;return n=b,(e=G())!==i?(38===t.charCodeAt(b)?(o=w,b++):(o=i,0===L&&_(x)),o!==i&&(r=G())!==i?n=e=[e,o,r]:(b=n,n=c)):(b=n,n=c),n}function M(){var n,e,o,r;return n=b,(e=G())!==i?(124===t.charCodeAt(b)?(o=P,b++):(o=i,0===L&&_(O)),o!==i&&(r=G())!==i?n=e=[e,o,r]:(b=n,n=c)):(b=n,n=c),n}function G(){var n,e;for(n=[],T.test(t.charAt(b))?(e=t.charAt(b),b++):(e=i,0===L&&_(N));e!==i;)n.push(e),T.test(t.charAt(b))?(e=t.charAt(b),b++):(e=i,0===L&&_(N));return n}if((e=s())!==i&&b===t.length)return e;throw e!==i&&b<t.length&&_({type:"end",description:"end of input"}),q(null,E,I)}}}(),ARCS.TokenEvent=function(){var n,t;this.promise=new Promise((function(e,o){n=e,t=o})),this.accept=function(){n()},this.abort=function(){t()}},ARCS.TransitionNetwork=function(){this.promise={},this.and=function(n){return this.promise=Promise.all([this.promise,n.promise]),this},this.or=function(n){return this.promise=Promise.race([this.promise,n.promise]),this}},ARCS.TransitionNetwork.build=function(n,t){var e,o,r;if("string"==typeof n){var s;t.hasOwnProperty(n)?s=t[n]:t[n]=s=new ARCS.TokenEvent;var c=new ARCS.TransitionNetwork;return c.promise=s.promise,c}for(e=ARCS.TransitionNetwork.build(n[0],t),i=1;i<n.length;i++)n[i].hasOwnProperty("and")?(r=ARCS.TransitionNetwork.build(n[i].and,t),o=e.and(r)):n[i].hasOwnProperty("or")?(r=ARCS.TransitionNetwork.build(n[i].or,t),o=e.or(r)):console.warn("[ARCS] Illegal tree"),e=o;return e},ARCS.Statemachine=new ARCS.Component.create((function(n){var t="",e="",o={},i="",r=this,s={},c={},a=function(n){var t;r.slots.indexOf(n)<0&&(r.slots.push(n),r[n]=(t=n,function(){r.setToken(t)}))},u=function(n){var t;if(o.hasOwnProperty(n))for(t in c={},o[n])o[n].hasOwnProperty(t)&&ARCS.TransitionNetwork.build(s[t],c).promise.then((function(){var e;for(e in c)c.hasOwnProperty(e)&&c[e].abort();u(o[n][t])}));i=n,r.emit("requestSheet",i),i===e&&r.emit("requestTermination")};this.setInitialState=function(n){i=t=n},this.setFinalState=function(n){e=n},this.addTransition=function(n,t,e){var i,r=/([A-Za-z_]\w*)/g;try{var c;if("string"==typeof(c=ARCS.EventLogicParser.parse(t)))a(c);else for(;null!==(i=r.exec(t));)a(i[0]);s[t]=c,void 0===o[n]&&(o[n]={}),o[n][t]=e}catch(n){}},this.setToken=function(n){c.hasOwnProperty(n)&&c[n].accept()},this.setTransitions=function(n){var t,e;for(t in n)if(n.hasOwnProperty(t))for(e in n[t])n[t].hasOwnProperty(e)&&this.addTransition(t,e,n[t][e])},this.start=function(){console.log("statemachine",this,t,n),u(t)},void 0!==n&&(t=n.initial,e=n.final,this.setTransitions(n.transitions),i="")}),["setToken"],["requestSheet","requestTermination"]),ARCS.Application=function(){var n,t=new ARCS.Context,e={},o={},i=[],r=this,s="";this.export=function(){return{context:t,controller:t.getComponentName(o),sheets:e}},this.getContext=function(){return t},this.getSheetList=function(){return Object.keys(e)},this.getSheet=function(n){return e[n]},this.addSheet=function(n,o){e[n]=o,o.setContext(t)},this.removeSheet=function(n){delete e[n]},n=function(){var n,i,s;for(i=t.getComponent(o),o=i,s=Object.keys(e),n=0;n<s.length;n++)(i=new ARCS.Sheet(t)).import(e[s[n]],t),e[s[n]]=i;ARCS.Component.connect(o,"requestSheet",r,"setSheet"),ARCS.Component.connect(o,"requestTermination",r,"finish"),o.start()},this.setController=function(n){o=t.getComponent(n)},this.setSheet=function(n){e.hasOwnProperty(n)?(s&&e[s].deactivate(),e[s=n].activate()):console.warn("[ARCS] Tried to activate hollow sheet named: "+n)},this.finish=function(){s&&e[s].deactivate()},this.import=function(n){t=new ARCS.Context(n.context),e=n.sheets,void 0===(o=n.controller)&&console.error("[ARCS] Undefined controller. Cannot start application.")},this.setFactory=function(n,t){factories[n]=t},this.setDependency=function(n){i[n]={}},this.start=function(){console.log("[ARCS] Starting application..."),t.instanciate().then(n)}},ARCS.Application.setDependency=function(n,t){n.setDependency(t)},ARCS.Component.create(ARCS.Application),ARCS.Application.slot("setSheet"),ARCS.Application.slot("finish");export{ARCS as default};
\ No newline at end of file

-arcs_module(
-    function (ARCS) {
-        var Animator;
         
-        /**
+import ARCS from '../build/arcs.js';        
+        
+var Animator;
+
+/**
     * @class Animator
     * @classdesc A component that request new frames for animation.
     * This component is useful when you want to create animations in the 
     * context of a web browser.
     */        
-        Animator = ARCS.Component.create( 
+Animator = ARCS.Component.create( 
     function() {
         var paused = false;
         var self=this;
@@ -49,8 +50,6 @@ arcs_module(
     },
     ['start','stop'],
     'onAnimationFrame'
-        );
-
-        return {Animator: Animator};
-    }
 );
+
+export default {Animator: Animator};

-arcs_module(
-    function (ARCS, CV, AR) {
-        var ARUCODetector;
+import ARCS from '../build/arcs.js';
+import CV from '../deps/cv/index.js';
+import AR from '../deps/aruco/index.js';
 
-        /**
+var ARUCODetector;
+        
+/**
     * @class ARUCODetector
     * @classdesc Component that detects ARUCO markers in images
     * This component encapsulate the {@link https://github.com/jcmellado/js-aruco|js-aruco} library.
     */        
-        ARUCODetector = ARCS.Component.create(
+ARUCODetector = ARCS.Component.create(
     function() {
         var detector ;
 
@@ -48,12 +50,6 @@ arcs_module(
     },
     'detect',
     ['onMarkers']
-        );
-        
-        return {ARUCODetector: ARUCODetector};
-    },
-    [
-        {name:"deps/cv/index", exports:"CV"},
-        {name:"deps/aruco/index",exports:"AR"}
-    ]
 );
+
+export default {ARUCODetector: ARUCODetector};

-arcs_module( 
-    function(ARCS, three) {
-        var ARViewer;
         
-        /** 
+import ARCS from '../build/arcs.js';
+import * as THREE from '../deps/three.js/index.js';
+import FrustumCamera from '../deps/three.js/frustumcamera.js';
+        
+var ARViewer;
+
+/** 
     * @class ARViewer 
     * @classdesc Simple compositing viewer for augmented reality
     */        
-        ARViewer = ARCS.Component.create(
+ARViewer = ARCS.Component.create(
     /** @lends ARViewer.prototype */
     function () {
         var container, sourceAspectRatio, sourceHeight;
@@ -282,7 +285,9 @@ arcs_module(
             var box = new THREE.Box3();                    
             box.setFromObject(scene3d);
             var center = box.center();
-                    var radius = box.getBoundingSphere().radius;
+            var sphere = new THREE.Sphere();
+            box.getBoundingSphere(sphere);
+            var radius = sphere.radius;
             
             camera3d.position.x = center.x ;
             camera3d.position.y = center.y ;
@@ -311,8 +316,7 @@ arcs_module(
         
     ],
     []
-        );
-        return {ARViewer: ARViewer}; 
-    },
-    [ 'deps/three.js/index','deps/three.js/frustumcamera']
 );
+
+export default {ARViewer: ARViewer}; 
+

+import ARCS from '../build/arcs.js';
+import POS from '../deps/pose/square_pose.js';
 
+var MarkerLocator;
 
-arcs_module(
-    function (ARCS, POS) {
-        var MarkerLocator;
 
-        
-        MarkerLocator = ARCS.Component.create(
+MarkerLocator = ARCS.Component.create(
     function () { 
         var square_pose = new POS.SquareFiducial();
         
@@ -44,10 +43,7 @@ arcs_module(
     },
     ['locateMarkers','setFocalLength','setModelSize','setImageSource'],
     ['onLocatedMarkers']
-        );
+);
 
 
-        return { MarkerLocator: MarkerLocator };
-    },
-    [ {name: "deps/pose/square_pose", exports: "POS"} ]
-);
\ No newline at end of file
+export default { MarkerLocator: MarkerLocator };

-arcs_module(
-    function(ARCS,_three) {
-        var ObjectTransform ;
+import ARCS from '../build/arcs.js';
+import * as THREE from '../deps/three.js/index.js';
 
-        /** 
+var ObjectTransform ;
+
+/** 
     * @class ObjectTransform
     * @classdesc Apply transformations to objects
     */
-        ObjectTransform = ARCS.Component.create(
+ObjectTransform = ARCS.Component.create(
     function() {
         var objRoot;
         var refMat;
@@ -115,11 +116,6 @@ arcs_module(
     },
     ['setObject', 'setTransform', 'setId'],
     []
-        );
-
-
-
-        return { ObjectTransform : ObjectTransform };
-    },
-    [ "deps/three.js/index" ]
 );
+
+export default { ObjectTransform : ObjectTransform };

-arcs_module(
-    function(ARCS, three, _objloader, _mtlloader, _objmtlloader) {
-        var OBJLoader;
+import ARCS from '../build/arcs.js';
+import * as THREE from '../deps/three.js/index.js';
+import { OBJLoader } from '../deps/objloader/objloader.js';
+import { MTLLoader } from '../deps/mtlloader/mtlloader.js';
+//import { DDSLoader } from '../deps/ddsloader/ddsloader.js';
 
 
-        OBJLoader = ARCS.Component.create(
+var internalOBJLoader;
+
+
+internalOBJLoader = ARCS.Component.create(
     function() {
         var self = this;
         var innerObject; 
@@ -34,23 +39,31 @@ arcs_module(
             // we may use a string tokenizer to determine file types 
             // then all would be in the same loading slot.
             
+            //console.log("loading objects", objURL, mtlURL);
+            var manager = new THREE.LoadingManager();
+            //manager.addHandler( /\.dds$/i, new DDSLoader() );
             
-                    console.log("loading objects", objURL, mtlURL);
             if (mtlURL === undefined) {
                 //console.log("using loader");
-                        loader = new THREE.OBJLoader();
+                loader = new OBJLoader(manager);
                 loader.load(objURL, onLoadWrapper, progress, error);                        
             } else {
                 //console.log("using mtl loader");
-                        loader = new THREE.OBJMTLLoader();
-                        loader.load(objURL, mtlURL, onLoadWrapper, progress, error);                        
+                loader = new MTLLoader(manager);
+                loader.load(mtlURL, function(materials) {
+                        materials.preload();
+                        console.log(materials);
+                        new OBJLoader(manager)
+                            .setMaterials(materials)
+                            .load(objURL, onLoadWrapper, progress, error);                        
+                    }, progress, error);                        
             }
         };
         
         this.loadJSON = function(jsonURL) {
             var loader;
             //console.log("loading objects", jsonURL);
-                    loader = new THREE.JSONLoader();
+            loader = new THREE.ObjectLoader();
             loader.load(jsonURL, onLoadJSON); //, progress, error);                         
             
             
@@ -93,9 +106,6 @@ arcs_module(
     },
     ["load","unitize", "resize"],
     ["onLoad"]
-        );
-        
-        return { OBJLoader: OBJLoader}; 
-    },
-    [ 'deps/three.js/index', 'deps/objloader/index', 'deps/mtlloader/index','deps/objmtlloader/index' ]
 );
+        
+export default { OBJLoader: internalOBJLoader}; 

-arcs_module(function(ARCS) {
-    var TokenSender;
+import ARCS from '../build/arcs.js';        
 
-    TokenSender = ARCS.Component.create(
+var TokenSender;
+
+TokenSender = ARCS.Component.create(
     function( arr ) {
         var i;
         var self = this;
@@ -20,7 +21,6 @@ arcs_module(function(ARCS) {
     }, 
     [],
     ['sendToken']
-    );
+);
 
-    return { TokenSender : TokenSender };
-});
\ No newline at end of file
+export default { TokenSender : TokenSender };

-arcs_module(function(ARCS) {
-    var LiveSource, VideoSource;
-    LiveSource = ARCS.Component.create(
+import ARCS from '../build/arcs.js';    
+        
+var LiveSource, VideoSource;
+LiveSource = ARCS.Component.create(
     function () {
         var context, canvas, video, imageData;
         var defaultWidth = 320;
@@ -8,15 +9,18 @@ arcs_module(function(ARCS) {
         var self = this;
         
         var handleMediaStream = function(stream) {
+            console.log(video,stream);
             if (window.webkitURL) {
                 video.src = window.webkitURL.createObjectURL(stream);
             } else if (video.mozSrcObject !== undefined) {
                 video.mozSrcObject = stream;
+            } else if (video.srcObject !== undefined) {
+                video.srcObject = stream;
             } else {
                 video.src = stream;
             }                
-                video.videoWidth=defaultWidth;                
-                video.videoHeight=defaultHeight;
+            /*video.videoWidth=defaultWidth;                
+            video.videoHeight=defaultHeight;*/
             self.emit("onReady");
         };
         
@@ -25,17 +29,14 @@ arcs_module(function(ARCS) {
         };
         
         var setUserMedia = function() {
-                console.log("video test");
             if (navigator.mediaDevices !== undefined) {
-                    navigator.mediaDevices.getUserMedia({video:true})
+                navigator.mediaDevices.getUserMedia({video: {facingMode: "environment", width: defaultWidth, height: defaultHeight}})
                     .then(handleMediaStream)
                     .catch(errorMediaStream);
             } else {                    
                 var getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia;
                 if (getUserMedia !== undefined) {
-                        getUserMedia({video:true}, handleMediaStream,
-                            errorMediaStream
-                        );
+                    getUserMedia({video:true}).then(handleMediaStream);
                 }
             }
         };
@@ -71,10 +72,10 @@ arcs_module(function(ARCS) {
     },
     ['grabFrame','setWidgets'],
     ['onReady','onImage']
-    );
+);
 
 
-    VideoSource = ARCS.Component.create(
+VideoSource = ARCS.Component.create(
     function() {
         var context, canvas, video, imageData;    
         var defaultWidth=320;
@@ -120,8 +121,8 @@ arcs_module(function(ARCS) {
     },
     ['grabFrame', 'setWidgets'],
     ['onReady', 'onImage']        
-    );
+);
+    
     
 
-    return {LiveSource: LiveSource, VideoSource: VideoSource};
-});
\ No newline at end of file
+export default {LiveSource: LiveSource, VideoSource: VideoSource};

-arcs_module(
-    function (ARCS) {
-        var WindowEvent;
+import ARCS from '../build/arcs.js';        
 
-        WindowEvent = ARCS.Component.create( 
+let WindowEvent;
+
+WindowEvent = ARCS.Component.create( 
     function () {
-                var self= this;
+        let self= this;
                         
         window.onresize = function() { 
             self.emit("onResize",window.innerWidth, window.innerHeight);
@@ -12,8 +12,7 @@ arcs_module(
     },
     [],
     ["onResize"]
-        );
-        
-        return { WindowEvent: WindowEvent};
-    }
 );
+        
+
+export default { WindowEvent: WindowEvent};

@@ -493,3 +493,5 @@ Mat3.prototype.row = function(index){
   
   return new Vec3( m[index][0], m[index][1], m[index][2] );
 };
+
+export default POS;

@@ -529,3 +529,5 @@ POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translat
   this.alternativeRotation = rotation2;
   this.alternativeTranslation = translation2;
 };
+
+export default POS;

@@ -130,3 +130,5 @@ POS.SimplePose = function(pos, rot) {
     this.position = pos;
     this.rotation = rot;
 };
+
+export default POS;

@@ -281,3 +281,5 @@ SVD.pythag = function(a, b){
 SVD.sign = function(a, b){
   return b >= 0.0? Math.abs(a): -Math.abs(a);
 };
+
+export default SVD;

-arcs_module(function(ARCS) {
-THREE.FrustumCamera = function (  left, right, bottom, top, near, far ) {
+import * as THREE from './index.js';
+
+let FrustumCamera = function (  left, right, bottom, top, near, far ) {
 
     THREE.Camera.call( this );
 
@@ -17,22 +18,22 @@ THREE.FrustumCamera = function (  left, right, bottom, top, near, far ) {
 
 };
 
-THREE.FrustumCamera.prototype = Object.create( THREE.Camera.prototype );
-THREE.FrustumCamera.prototype.constructor = THREE.FrustumCamera;
+FrustumCamera.prototype = Object.create( THREE.Camera.prototype );
+FrustumCamera.prototype.constructor = FrustumCamera;
 
 
 
 
-THREE.FrustumCamera.prototype.updateProjectionMatrix = function () {
+FrustumCamera.prototype.updateProjectionMatrix = function () {
 
     this.projectionMatrix.makeFrustum(
         this.left, this.right, this.bottom, this.top, this.near, this.far
     );
 };
 
-THREE.FrustumCamera.prototype.clone = function () {
+FrustumCamera.prototype.clone = function () {
 
-    var camera = new THREE.FrustumCamera();
+    var camera = new FrustumCamera();
 
     THREE.Camera.prototype.clone.call( this, camera );
 
@@ -51,6 +52,4 @@ THREE.FrustumCamera.prototype.clone = function () {
 
 };
 
-return {};
-}, ['deps/three.js/index']
-);	
+export default FrustumCamera;

@@ -11,7 +11,7 @@
     "Reality"
   ],
   "author": "Jean-Yves Didier",
-  "license": "GPL",
+  "license": "GPL-3.0-or-later",
   "devDependencies": {
     "bower": ">=1.3.9",
     "grunt": ">=0.4.5",
@@ -20,6 +20,8 @@
     "grunt-jsdoc": ">=0.5.6",
     "grunt-bower-task": ">=0.4.0",
     "grunt-contrib-concat": ">=0.5.0",
-    "grunt-contrib-copy": ">=1.0.0"
+    "grunt-contrib-copy": ">=1.0.0",
+    "grunt-file-append": ">=0.0.7",
+    "grunt-string-replace": ">=1.3.1"
   }
 }

 {
   "context": {
     "libraries": [
-      "components/arviewer","components/animator",
-      "components/objloader","components/video",
-      "components/arucodetector", "components/markerlocator",
-      "components/windowevent", "components/tokensender", "components/objecttransform"
+      "../components/arviewer.js","../components/animator.js",
+      "../components/objloader.js","../components/video.js",
+      "../components/arucodetector.js", "../components/markerlocator.js",
+      "../components/windowevent.js", "../components/tokensender.js", "../components/objecttransform.js"
     ],
     "components": {
       "viewer": { "type": "ARViewer"},

@@ -2,15 +2,15 @@
     <head>
         <title>ARCS: marker experiment</title>
             <link type="text/css" rel="stylesheet" href="arcs.css">
-                <script data-main="../../build/arcs_browser" 
+                <script src="../../build/arcs_browser.js" 
                         data-base-url="../.." 
                         data-arcsapp="arcsapp.json" 
-                        src="../../deps/requirejs/require.js">
+                        type="module">
                 </script>
             <meta charset="UTF-8"> 
     </head>
     <body>
-        <video id="video" width=320 height=240 autoplay="true" style="display: none;"></video>
+        <video id="video" width=640 height=480 autoplay="true" style="display: none;"></video>
         <canvas id="canvas"></canvas>
         <div id="container" ></div>
         <div id="contents">