npm - @wandelbots/wandelbots-js-react-components - Versions diffs - 1.1.3 → 1.1.5 - Mend

@wandelbots/wandelbots-js-react-components 1.1.3 → 1.1.5

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Files changed (3) hide show

package/dist/cjs/index.js CHANGED Viewed

	@@ -1 +1 @@
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Wa(t){var o=t.modelURL,r=t.connectedMotionGroup,c=s(t,["modelURL","connectedMotionGroup"]),u=a.useGLTF(o),l=u.nodes,h=u.materials,d=[0,Math.PI/2,0,0,0,0];return e.jsxs(e.Fragment,{children:[e.jsx(Oa,{connectedMotionGroup:r,robotRootObjectName:"Scene",onRotationChanged:function(e,t){e.forEach((function(e,n){return 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Ha(t){var o=t.modelURL,r=t.connectedMotionGroup,c=s(t,["modelURL","connectedMotionGroup"]),u=a.useGLTF(o),l=u.nodes,h=u.materials,d=[0,-Math.PI/2,0,0,0,0];return e.jsxs(e.Fragment,{children:[e.jsx(Oa,{connectedMotionGroup:r,robotRootObjectName:"Scene",onRotationChanged:function(e,t){e.forEach((function(e,n){return e.rotation.y=t[n]+d[n]}))}}),e.jsx("group",i({},c,{dispose:null,children:e.jsx("group",{name:"Scene",children:e.jsxs("group",{name:"IRB1200_7_70_IRC5",rotation:[Math.PI/2,0,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[e.jsxs(n.animated.group,{name:"IRB1200_7_70_IRC5_J06",rotation:[Math.PI/2,0,-Math.PI],children:[e.jsx("group",{name:"IRB1200_7_70_IRC5_FLG",position:[0,.082,0]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L06",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L06.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L05",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L05.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L04",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L04.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L03",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L03.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L02",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L02.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L01",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L01.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"],rotation:[Math.PI/2,0,0]})]}),e.jsx("mesh",{name:"IRB1200_7_70_IRC5_L00",castShadow:!0,receiveShadow:!0,geometry:l.IRB1200_7_70_IRC5_L00.geometry,material:h["IRB1200_7-70_IRC5.003_Bake"],rotation:[-Math.PI/2,0,0]})]})})}))]})}["Symbol","Map","Set"].forEach((function(e){void 0===v()[e]&&_("MobX requires global '"+e+"' to be available or polyfilled")})),"object"==typeof __MOBX_DEVTOOLS_GLOBAL_HOOK__&&__MOBX_DEVTOOLS_GLOBAL_HOOK__.injectMobx({spy:function(e){return"production"===process.env.NODE_ENV?(console.warn("[mobx.spy] Is a no-op in production builds"),function(){}):(Ot.spyListeners.push(e),O((function(){Ot.spyListeners=Ot.spyListeners.filter((function(t){return t!==e}))})))},extras:{getDebugName:fa},$mobx:re});var qa="line",za="mesh";function Ya(t){var n=t.connectedMotionGroup,o=s(t,["connectedMotionGroup"]),c=new r.Matrix4;function u(e,t){var n=new r.Vector3,a=new r.Quaternion,o=new r.Vector3;c.decompose(n,a,o);var i=n.clone(),s=(new r.Matrix4).makeRotationY(e.theta+t(e.reverse_rotation_direction?-1:1)).multiply((new r.Matrix4).makeTranslation(0,e.d/1e3,0)).multiply((new r.Matrix4).makeTranslation(e.a/1e3,0,0)).multiply((new r.Matrix4).makeRotationX(e.alpha));return c.multiply(s),c.decompose(n,a,o),{a:i,b:n}}return e.jsxs(e.Fragment,{children:[e.jsx(Oa,{connectedMotionGroup:n,robotRootObjectName:"Scene",onRotationChanged:function(e,t){c.identity(),e.forEach((function(e,a){!function(e,t,a,o){var r=n.motionGroupSpecification.dh_parameters;if(r){var i=r[e];if(i){var s=u(i,o),c=s.a,l=s.b;t.geometry.setPositions([c.toArray(),l.toArray()].flat()),a.position.set(l.x,l.y,l.z)}}}(a,e.getObjectByName(qa),e.getObjectByName(za),t[a])}))},jointCollector:function(e){return d(e,"^group_[0-9]+$")}}),e.jsxs("group",i({},o,{name:"Scene",children:[e.jsxs("mesh",{children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n.motionGroupSpecification.dh_parameters.map((function(t,o){var r,i=u(t,null!==(r=n.rapidlyChangingMotionState.state.joint_position.joints[o])&&void 0!==r?r:0),s=i.a,c=i.b;return e.jsxs("group",{name:"group_".concat(o),children:[e.jsx(a.Line,{name:qa,points:[s,c],color:"white",lineWidth:5}),e.jsxs("mesh",{name:za,position:c,children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+o)]},"group_"+o)}))]}))]})}var Za=function(e){return c(void 0,void 0,void 0,(function(){return u(this,(function(t){return[2,"https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/".concat(e,".glb")]}))}))};var $a=Array(6).fill(2Math.PI);function Qa(t){var n=t.positions,o=void 0===n?[2,0,2,0,2,0,2,0]:n;return e.jsxs(e.Fragment,{children:[e.jsx(a.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),e.jsx("group",{rotation:[0,.5,0],children:e.jsx("group",{children:o.map((function(t,n){return e.jsx(a.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[t,4,4n],scale:[3,1,1]},n)}))})}),e.jsx(a.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsx(a.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsx(a.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsx(a.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.jsx(a.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}exports.ArrowForwardFilledIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M12 4L10.59 5.41L16.17 11H4V13H16.17L10.59 18.59L12 20L20 12L12 4Z",fill:"white"})})},exports.ExpandFilledIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M16.59 8.29492L12 12.8749L7.41 8.29492L6 9.70492L12 15.7049L18 9.70492L16.59 8.29492Z",fill:"white","fill-opacity":"0.8"})})},exports.HomeIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{"fill-rule":"evenodd","clip-rule":"evenodd",d:"M5 22C3.34315 22 2 20.6569 2 19V11.9225C2 10.7074 2.55236 9.55811 3.50122 8.79902L12 2L20.4988 8.79902C21.4476 9.55811 22 10.7074 22 11.9225V19C22 20.6569 20.6569 22 19 22H5ZM20.5 11.9225V19C20.5 19.8284 19.8284 20.5 19 20.5H16V14C16 12.8954 15.1046 12 14 12H10C8.89543 12 8 12.8954 8 14V20.5H5C4.17157 20.5 3.5 19.8284 3.5 19V11.9225C3.5 11.163 3.84522 10.4448 4.43826 9.97033L12 3.92094L19.5617 9.97033C20.1548 10.4448 20.5 11.163 20.5 11.9225Z",fill:"white"})})},exports.InfoOutlinedIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M11 7H13V9H11V7ZM11 11H13V17H11V11ZM12 2C6.48 2 2 6.48 2 12C2 17.52 6.48 22 12 22C17.52 22 22 17.52 22 12C22 6.48 17.52 2 12 2ZM12 20C7.59 20 4 16.41 4 12C4 7.59 7.59 4 12 4C16.41 4 20 7.59 20 12C20 16.41 16.41 20 12 20Z",fill:"white"})})},exports.PresetEnvironment=function(){return e.jsx(a.Environment,{children:e.jsx(Qa,{})})},exports.RobotIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{"fill-rule":"evenodd","clip-rule":"evenodd",d:"M8.47826 18.9999V21.2219V22.913H10.1694H16.961H18.6522V21.2219V18.2174L13.1958 12.761L12 11.5652L13.1958 10.3694L13.5433 10.0219L14.7391 8.82609L15.8911 9.9781L15.9349 10.0219L17.087 11.1739L18.2828 9.9781L19.8042 8.45668L21 7.26087L19.8042 6.06506L15.9349 2.19581L14.7391 1L13.5433 2.19581L4.19581 11.5433L3 12.7391L4.19581 13.9349L8.47817 18.2173V18.9999H8.47826ZM10.1694 18.9999V21.2219H16.961V18.9179L10.8042 12.761L9.60839 11.5652L10.8042 10.3694L13.5433 7.63028L13.5534 7.62018L12.032 6.09875L5.39161 12.7391L9.67407 17.0216L10.0872 17.4347H13.5651L15.1303 18.9999H10.1694ZM18.6084 7.26087L17.093 8.7763L13.2237 4.90705L14.7391 3.39161L18.6084 7.26087Z",fill:"white"})})},exports.SupportedRobot=function(n){var a,o=n.getModel,r=void 0===o?Za:o,c=s(n,["getModel"]),u=c.connectedMotionGroup.modelFromController;switch(u){case"UniversalRobots_UR3":a=La;break;case"UniversalRobots_UR3e":a=Na;break;case"UniversalRobots_UR5":a=Ia;break;case"UniversalRobots_UR5e":a=Ea;break;case"UniversalRobots_UR10":a=Ca;break;case"UniversalRobots_UR10e":a=Pa;break;case"Yaskawa_AR900":case"Yaskawa_GP7":a=ka;break;case"Yaskawa_AR1440":a=Da;break;case"Yaskawa_AR1730":a=Ua;break;case"Yaskawa_AR2010":a=Va;break;case"Yaskawa_AR3120":a=Ba;break;case"FANUC_CRX10iA":a=Ga;break;case"FANUC_CRX25iA":a=Ta;break;case"FANUC_CRX25iAL":a=Fa;break;case"FANUC_ARC_Mate_120iD":a=Wa;break;case"FANUC_ARC_Mate_100iD":a=Ka;break;case"KUKA_KR210_R2700":a=Ja;break;case"KUKA_KR270_R2700":a=Xa;break;case"ABB_1200_07_7":a=Ha;break;default:console.warn("Unknown robot type: ".concat(u)),a=Ya}return e.jsx(t.Suspense,{fallback:e.jsx(Ya,i({},c)),children:e.jsx(a,i({modelURL:r(u)},c))})},exports.WBLogoIcon=function(t){var n=t.width,a=void 0===n?21:n,o=t.fillColor,r=void 0===o?"white":o;return e.jsxs("svg",{width:"".concat(a),height:"".concat(1.19*a),viewBox:"0 0 21 25",fill:r,style:{transition:"fill 2s ease"},xmlns:"http://www.w3.org/2000/svg",children:[e.jsx("path",{d:"M0 8.25553V14.2168L17.0228 4.47097L14.4197 0L0 8.25553Z"}),e.jsx("path",{d:"M9.70299 11.6758L0 17.2112V23.1846L9.70299 17.6492V11.6758Z"}),e.jsx("path",{d:"M11.8886 19.4131L2.22571 24.993H15.5035V19.4131H11.8886Z"})]})},exports.defaultAxisConfig=$a;
1	+ "use strict";var e=require("react/jsx-runtime"),t=require("react"),n=require("@react-spring/three"),a=require("@react-three/drei"),o=require("@react-three/fiber"),r=require("three");var i=function(){return i=Object.assign\|\|function(e){for(var t,n=1,a=arguments.length;n<a;n++)for(var o in t=arguments[n])Object.prototype.hasOwnProperty.call(t,o)&&(e[o]=t[o]);return e},i.apply(this,arguments)};function s(e,t){var n={};for(var a in e)Object.prototype.hasOwnProperty.call(e,a)&&t.indexOf(a)<0&&(n[a]=e[a]);if(null!=e&&"function"==typeof Object.getOwnPropertySymbols){var o=0;for(a=Object.getOwnPropertySymbols(e);o<a.length;o++)t.indexOf(a[o])<0&&Object.prototype.propertyIsEnumerable.call(e,a[o])&&(n[a[o]]=e[a[o]])}return n}"function"==typeof SuppressedError&&SuppressedError;var c="(^joint_[0-9]+$)\|(_J[0-9]+$)";function u(e){return 0===e.children.length?[e]:function(e,t,n){if(n\|\|2===arguments.length)for(var a,o=0,r=t.length;o<r;o++)!a&&o in t\|\|(a\|\|(a=Array.prototype.slice.call(t,0,o)),a[o]=t[o]);return e.concat(a\|\|Array.prototype.slice.call(t))}([e],e.children.flatMap((function(e){return u(e)})),!0)}function l(e,t){return u(e).filter((function(e){return function(e,t){return new RegExp(null!=t?t:c).test(e)}(e.name,t)}))}var h="production"!==process.env.NODE_ENV?{0:"Invalid value for configuration 'enforceActions', expected 'never', 'always' or 'observed'",1:function(e,t){return"Cannot apply '"+e+"' to '"+t.toString()+"': Field not found."},5:"'keys()' can only be used on observable objects, arrays, sets and maps",6:"'values()' can only be used on observable objects, arrays, sets and maps",7:"'entries()' can only be used on observable objects, arrays and maps",8:"'set()' can only be used on observable objects, arrays and maps",9:"'remove()' can only be used on observable objects, arrays and maps",10:"'has()' can only be used on observable objects, arrays and maps",11:"'get()' can only be used on observable objects, arrays and maps",12:"Invalid annotation",13:"Dynamic observable objects cannot be frozen. If you're passing observables to 3rd party component/function that calls Object.freeze, pass copy instead: toJS(observable)",14:"Intercept handlers should return nothing or a change object",15:"Observable arrays cannot be frozen. If you're passing observables to 3rd party component/function that calls Object.freeze, pass copy instead: toJS(observable)",16:"Modification exception: the internal structure of an observable array was changed.",17:function(e,t){return"[mobx.array] Index out of bounds, "+e+" is larger than "+t},18:"mobx.map requires Map polyfill for the current browser. Check babel-polyfill or core-js/es6/map.js",19:function(e){return"Cannot initialize from classes that inherit from Map: "+e.constructor.name},20:function(e){return"Cannot initialize map from "+e},21:function(e){return"Cannot convert to map from '"+e+"'"},22:"mobx.set requires Set polyfill for the current browser. Check babel-polyfill or core-js/es6/set.js",23:"It is not possible to get index atoms from arrays",24:function(e){return"Cannot obtain administration from "+e},25:function(e,t){return"the entry '"+e+"' does not exist in the observable map '"+t+"'"},26:"please specify a property",27:function(e,t){return"no observable property '"+e.toString()+"' found on the observable object '"+t+"'"},28:function(e){return"Cannot obtain atom from "+e},29:"Expecting some object",30:"invalid action stack. did you forget to finish an action?",31:"missing option for computed: get",32:function(e,t){return"Cycle detected in computation "+e+": "+t},33:function(e){return"The setter of computed value '"+e+"' is trying to update itself. Did you intend to update an _observable_ value, instead of the computed property?"},34:function(e){return"[ComputedValue '"+e+"'] It is not possible to assign a new value to a computed value."},35:"There are multiple, different versions of MobX active. Make sure MobX is loaded only once or use `configure({ isolateGlobalState: true })`",36:"isolateGlobalState should be called before MobX is running any reactions",37:function(e){return"[mobx] `observableArray."+e+"()` mutates the array in-place, which is not allowed inside a derivation. Use `array.slice()."+e+"()` instead"},38:"'ownKeys()' can only be used on observable objects",39:"'defineProperty()' can only be used on observable objects"}:{};function d(e){for(var t=arguments.length,n=new Array(t>1?t-1:0),a=1;a<t;a++)n[a-1]=arguments[a];if("production"!==process.env.NODE_ENV){var o="string"==typeof e?e:h[e];throw"function"==typeof o&&(o=o.apply(null,n)),new Error("[MobX] "+o)}throw new Error("number"==typeof e?"[MobX] minified error nr: "+e+(n.length?" "+n.map(String).join(","):"")+". 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this.name_+"["+this.value_+"]"},n.valueOf=function(){return T(this.get())},n[Symbol.toPrimitive]=function(){return this.valueOf()},t}(oe);function it(e,t){return!!(e&t)}function st(e,t,n){return n?e\|=t:e&=~t,e}var ct=function(){function e(e){this.dependenciesState_=ut.NOT_TRACKING_,this.observing_=[],this.newObserving_=null,this.observers_=new Set,this.diffValue_=0,this.runId_=0,this.lastAccessedBy_=0,this.lowestObserverState_=ut.UP_TO_DATE_,this.unboundDepsCount_=0,this.value_=new dt(null),this.name_=void 0,this.triggeredBy_=void 0,this.flags_=0,this.derivation=void 0,this.setter_=void 0,this.isTracing_=lt.NONE,this.scope_=void 0,this.equals_=void 0,this.requiresReaction_=void 0,this.keepAlive_=void 0,this.onBOL=void 0,this.onBUOL=void 0,e.get\|\|d(31),this.derivation=e.get,this.name_=e.name\|\|("production"!==process.env.NODE_ENV?"ComputedValue@"+M():"ComputedValue"),e.set&&(this.setter_=nt("production"!==process.env.NODE_ENV?this.name_+"-setter":"ComputedValue-setter",e.set)),this.equals_=e.equals\|\|(e.compareStructural\|\|e.struct?se.structural:se.default),this.scope_=e.context,this.requiresReaction_=e.requiresReaction,this.keepAlive_=!!e.keepAlive}var t=e.prototype;return t.onBecomeStale_=function(){!function(e){if(e.lowestObserverState_!==ut.UP_TO_DATE_)return;e.lowestObserverState_=ut.POSSIBLY_STALE_,e.observers_.forEach((function(e){e.dependenciesState_===ut.UP_TO_DATE_&&(e.dependenciesState_=ut.POSSIBLY_STALE_,e.onBecomeStale_())}))}(this)},t.onBO=function(){this.onBOL&&this.onBOL.forEach((function(e){return e()}))},t.onBUO=function(){this.onBUOL&&this.onBUOL.forEach((function(e){return e()}))},t.get=function(){if(this.isComputing&&d(32,this.name_,this.derivation),0!==Rt.inBatch\|\|0!==this.observers_.size\|\|this.keepAlive_){if(Et(this),_t(this)){var e=Rt.trackingContext;this.keepAlive_&&!e&&(Rt.trackingContext=this),this.trackAndCompute()&&function(e){if(e.lowestObserverState_===ut.STALE_)return;e.lowestObserverState_=ut.STALE_,e.observers_.forEach((function(t){t.dependenciesState_===ut.POSSIBLY_STALE_?(t.dependenciesState_=ut.STALE_,"production"!==process.env.NODE_ENV&&t.isTracing_!==lt.NONE&&Pt(t,e)):t.dependenciesState_===ut.UP_TO_DATE_&&(e.lowestObserverState_=ut.UP_TO_DATE_)}))}(this),Rt.trackingContext=e}}else _t(this)&&(this.warnAboutUntrackedRead_(),Nt(),this.value_=this.computeValue_(!1),It());var t=this.value_;if(mt(t))throw t.cause;return t},t.set=function(e){if(this.setter_){this.isRunningSetter&&d(33,this.name_),this.isRunningSetter=!0;try{this.setter_.call(this.scope_,e)}finally{this.isRunningSetter=!1}}else d(34,this.name_)},t.trackAndCompute=function(){var e=this.value_,t=this.dependenciesState_===ut.NOT_TRACKING_,n=this.computeValue_(!0),a=t\|\|mt(e)\|\|mt(n)\|\|!this.equals_(e,n);return a&&(this.value_=n,"production"!==process.env.NODE_ENV&&Ft()&&Jt({observableKind:"computed",debugObjectName:this.name_,object:this.scope_,type:"update",oldValue:e,newValue:n})),a},t.computeValue_=function(e){this.isComputing=!0;var t,n=at(!1);if(e)t=vt(this,this.derivation,this.scope_);else if(!0===Rt.disableErrorBoundaries)t=this.derivation.call(this.scope_);else try{t=this.derivation.call(this.scope_)}catch(e){t=new dt(e)}return ot(n),this.isComputing=!1,t},t.suspend_=function(){this.keepAlive_\|\|(gt(this),this.value_=void 0,"production"!==process.env.NODE_ENV&&this.isTracing_!==lt.NONE&&console.log("[mobx.trace] Computed value '"+this.name_+"' was suspended and it will recompute on the next access."))},t.observe_=function(e,t){var n=this,a=!0,o=void 0;return an((function(){var r=n.get();if(!a\|\|t){var i=yt();e({observableKind:"computed",debugObjectName:n.name_,type:Ln,object:n,newValue:r,oldValue:o}),bt(i)}a=!1,o=r}))},t.warnAboutUntrackedRead_=function(){"production"!==process.env.NODE_ENV&&(this.isTracing_!==lt.NONE&&console.log("[mobx.trace] Computed value '"+this.name_+"' is being read outside a reactive context. Doing a full recompute."),("boolean"==typeof this.requiresReaction_?this.requiresReaction_:Rt.computedRequiresReaction)&&console.warn("[mobx] Computed value '"+this.name_+"' is being read outside a reactive context. Doing a full recompute."))},t.toString=function(){return this.name_+"["+this.derivation.toString()+"]"},t.valueOf=function(){return T(this.get())},t[Symbol.toPrimitive]=function(){return this.valueOf()},W(e,[{key:"isComputing",get:function(){return it(this.flags_,e.isComputingMask_)},set:function(t){this.flags_=st(this.flags_,e.isComputingMask_,t)}},{key:"isRunningSetter",get:function(){return it(this.flags_,e.isRunningSetterMask_)},set:function(t){this.flags_=st(this.flags_,e.isRunningSetterMask_,t)}},{key:"isBeingObserved",get:function(){return it(this.flags_,e.isBeingObservedMask_)},set:function(t){this.flags_=st(this.flags_,e.isBeingObservedMask_,t)}},{key:"isPendingUnobservation",get:function(){return it(this.flags_,e.isPendingUnobservationMask_)},set:function(t){this.flags_=st(this.flags_,e.isPendingUnobservationMask_,t)}}])}();ct.isComputingMask_=1,ct.isRunningSetterMask_=2,ct.isBeingObservedMask_=4,ct.isPendingUnobservationMask_=8;var ut,lt,ht=k("ComputedValue",ct);!function(e){e[e.NOT_TRACKING_=-1]="NOT_TRACKING_",e[e.UP_TO_DATE_=0]="UP_TO_DATE_",e[e.POSSIBLY_STALE_=1]="POSSIBLY_STALE_",e[e.STALE_=2]="STALE_"}(ut\|\|(ut={})),function(e){e[e.NONE=0]="NONE",e[e.LOG=1]="LOG",e[e.BREAK=2]="BREAK"}(lt\|\|(lt={}));var dt=function(e){this.cause=void 0,this.cause=e};function mt(e){return e instanceof dt}function _t(e){switch(e.dependenciesState_){case ut.UP_TO_DATE_:return!1;case ut.NOT_TRACKING_:case ut.STALE_:return!0;case ut.POSSIBLY_STALE_:for(var t=St(!0),n=yt(),a=e.observing_,o=a.length,r=0;r<o;r++){var i=a[r];if(ht(i)){if(Rt.disableErrorBoundaries)i.get();else try{i.get()}catch(e){return bt(n),wt(t),!0}if(e.dependenciesState_===ut.STALE_)return bt(n),wt(t),!0}}return jt(e),bt(n),wt(t),!1}}function pt(e){if("production"!==process.env.NODE_ENV){var t=e.observers_.size>0;Rt.allowStateChanges\|\|!t&&"always"!==Rt.enforceActions\|\|console.warn("[MobX] "+(Rt.enforceActions?"Since strict-mode is enabled, changing (observed) observable values without using an action is not allowed. Tried to modify: ":"Side effects like changing state are not allowed at this point. Are you trying to modify state from, for example, a computed value or the render function of a React component? You can wrap side effects in 'runInAction' (or decorate functions with 'action') if needed. Tried to modify: ")+e.name_)}}function vt(e,t,n){var a=St(!0);jt(e),e.newObserving_=new Array(0===e.runId_?100:e.observing_.length),e.unboundDepsCount_=0,e.runId_=++Rt.runId;var o,r=Rt.trackingDerivation;if(Rt.trackingDerivation=e,Rt.inBatch++,!0===Rt.disableErrorBoundaries)o=t.call(n);else try{o=t.call(n)}catch(e){o=new dt(e)}return Rt.inBatch--,Rt.trackingDerivation=r,function(e){for(var t=e.observing_,n=e.observing_=e.newObserving_,a=ut.UP_TO_DATE_,o=0,r=e.unboundDepsCount_,i=0;i<r;i++){var s=n[i];0===s.diffValue_&&(s.diffValue_=1,o!==i&&(n[o]=s),o++),s.dependenciesState_>a&&(a=s.dependenciesState_)}n.length=o,e.newObserving_=null,r=t.length;for(;r--;){var c=t[r];0===c.diffValue_&&Ot(c,e),c.diffValue_=0}for(;o--;){var u=n[o];1===u.diffValue_&&(u.diffValue_=0,At(u,e))}a!==ut.UP_TO_DATE_&&(e.dependenciesState_=a,e.onBecomeStale_())}(e),function(e){if("production"===process.env.NODE_ENV)return;if(0!==e.observing_.length)return;("boolean"==typeof e.requiresObservable_?e.requiresObservable_:Rt.reactionRequiresObservable)&&console.warn("[mobx] Derivation '"+e.name_+"' is created/updated without reading any observable value.")}(e),wt(a),o}function gt(e){var t=e.observing_;e.observing_=[];for(var n=t.length;n--;)Ot(t[n],e);e.dependenciesState_=ut.NOT_TRACKING_}function ft(e){var t=yt();try{return e()}finally{bt(t)}}function yt(){var e=Rt.trackingDerivation;return Rt.trackingDerivation=null,e}function bt(e){Rt.trackingDerivation=e}function St(e){var t=Rt.allowStateReads;return Rt.allowStateReads=e,t}function wt(e){Rt.allowStateReads=e}function jt(e){if(e.dependenciesState_!==ut.UP_TO_DATE_){e.dependenciesState_=ut.UP_TO_DATE_;for(var t=e.observing_,n=t.length;n--;)t[n].lowestObserverState_=ut.UP_TO_DATE_}}var xt=function(){this.version=6,this.UNCHANGED={},this.trackingDerivation=null,this.trackingContext=null,this.runId=0,this.mobxGuid=0,this.inBatch=0,this.pendingUnobservations=[],this.pendingReactions=[],this.isRunningReactions=!1,this.allowStateChanges=!1,this.allowStateReads=!0,this.enforceActions=!0,this.spyListeners=[],this.globalReactionErrorHandlers=[],this.computedRequiresReaction=!1,this.reactionRequiresObservable=!1,this.observableRequiresReaction=!1,this.disableErrorBoundaries=!1,this.suppressReactionErrors=!1,this.useProxies=!0,this.verifyProxies=!1,this.safeDescriptors=!0},Mt=!0,Rt=function(){var e=_();return e.__mobxInstanceCount>0&&!e.__mobxGlobals&&(Mt=!1),e.__mobxGlobals&&e.__mobxGlobals.version!==(new xt).version&&(Mt=!1),Mt?e.__mobxGlobals?(e.__mobxInstanceCount+=1,e.__mobxGlobals.UNCHANGED\|\|(e.__mobxGlobals.UNCHANGED={}),e.__mobxGlobals):(e.__mobxInstanceCount=1,e.__mobxGlobals=new xt):(setTimeout((function(){d(35)}),1),new xt)}();function At(e,t){e.observers_.add(t),e.lowestObserverState_>t.dependenciesState_&&(e.lowestObserverState_=t.dependenciesState_)}function Ot(e,t){e.observers_.delete(t),0===e.observers_.size&&Lt(e)}function Lt(e){!1===e.isPendingUnobservation&&(e.isPendingUnobservation=!0,Rt.pendingUnobservations.push(e))}function Nt(){Rt.inBatch++}function It(){if(0==--Rt.inBatch){Bt();for(var e=Rt.pendingUnobservations,t=0;t<e.length;t++){var n=e[t];n.isPendingUnobservation=!1,0===n.observers_.size&&(n.isBeingObserved&&(n.isBeingObserved=!1,n.onBUO()),n instanceof ct&&n.suspend_())}Rt.pendingUnobservations=[]}}function Et(e){!function(e){"production"!==process.env.NODE_ENV&&!Rt.allowStateReads&&Rt.observableRequiresReaction&&console.warn("[mobx] Observable '"+e.name_+"' being read outside a reactive context.")}(e);var t=Rt.trackingDerivation;return null!==t?(t.runId_!==e.lastAccessedBy_&&(e.lastAccessedBy_=t.runId_,t.newObserving_[t.unboundDepsCount_++]=e,!e.isBeingObserved&&Rt.trackingContext&&(e.isBeingObserved=!0,e.onBO())),e.isBeingObserved):(0===e.observers_.size&&Rt.inBatch>0&&Lt(e),!1)}function Ct(e){e.lowestObserverState_!==ut.STALE_&&(e.lowestObserverState_=ut.STALE_,e.observers_.forEach((function(t){t.dependenciesState_===ut.UP_TO_DATE_&&("production"!==process.env.NODE_ENV&&t.isTracing_!==lt.NONE&&Pt(t,e),t.onBecomeStale_()),t.dependenciesState_=ut.STALE_})))}function Pt(e,t){if(console.log("[mobx.trace] '"+e.name_+"' is invalidated due to a change in: '"+t.name_+"'"),e.isTracing_===lt.BREAK){var n=[];kt(ln(_a(e,a)),n,1),new Function("debugger;\n/\nTracing '"+e.name_+"'\n\nYou are entering this break point because derivation '"+e.name_+"' is being traced and '"+t.name_+"' is now forcing it to update.\nJust follow the stacktrace you should now see in the devtools to see precisely what piece of your code is causing this update\nThe stackframe you are looking for is at least ~6-8 stack-frames up.\n\n"+(e instanceof ct?e.derivation.toString().replace(/[]\//g,"/"):"")+"\n\nThe dependencies for this derivation are:\n\n"+n.join("\n")+"\n/\n ")()}var a}function kt(e,t,n){t.length>=1e3?t.push("(and many more)"):(t.push(""+"\t".repeat(n-1)+e.name),e.dependencies&&e.dependencies.forEach((function(e){return kt(e,t,n+1)})))}var Dt=function(){function e(e,t,n,a){void 0===e&&(e="production"!==process.env.NODE_ENV?"Reaction@"+M():"Reaction"),this.name_=void 0,this.onInvalidate_=void 0,this.errorHandler_=void 0,this.requiresObservable_=void 0,this.observing_=[],this.newObserving_=[],this.dependenciesState_=ut.NOT_TRACKING_,this.diffValue_=0,this.runId_=0,this.unboundDepsCount_=0,this.isDisposed_=!1,this.isScheduled_=!1,this.isTrackPending_=!1,this.isRunning_=!1,this.isTracing_=lt.NONE,this.name_=e,this.onInvalidate_=t,this.errorHandler_=n,this.requiresObservable_=a}var t=e.prototype;return t.onBecomeStale_=function(){this.schedule_()},t.schedule_=function(){this.isScheduled_\|\|(this.isScheduled_=!0,Rt.pendingReactions.push(this),Bt())},t.isScheduled=function(){return this.isScheduled_},t.runReaction_=function(){if(!this.isDisposed_){Nt(),this.isScheduled_=!1;var e=Rt.trackingContext;if(Rt.trackingContext=this,_t(this)){this.isTrackPending_=!0;try{this.onInvalidate_(),"production"!==process.env.NODE_ENV&&this.isTrackPending_&&Ft()&&Jt({name:this.name_,type:"scheduled-reaction"})}catch(e){this.reportExceptionInDerivation_(e)}}Rt.trackingContext=e,It()}},t.track=function(e){if(!this.isDisposed_){Nt();var t,n=Ft();"production"!==process.env.NODE_ENV&&n&&(t=Date.now(),Xt({name:this.name_,type:"reaction"})),this.isRunning_=!0;var a=Rt.trackingContext;Rt.trackingContext=this;var o=vt(this,e,void 0);Rt.trackingContext=a,this.isRunning_=!1,this.isTrackPending_=!1,this.isDisposed_&&gt(this),mt(o)&&this.reportExceptionInDerivation_(o.cause),"production"!==process.env.NODE_ENV&&n&&Wt({time:Date.now()-t}),It()}},t.reportExceptionInDerivation_=function(e){var t=this;if(this.errorHandler_)this.errorHandler_(e,this);else{if(Rt.disableErrorBoundaries)throw e;var n="production"!==process.env.NODE_ENV?"[mobx] Encountered an uncaught exception that was thrown by a reaction or observer component, in: '"+this+"'":"[mobx] uncaught error in '"+this+"'";Rt.suppressReactionErrors?"production"!==process.env.NODE_ENV&&console.warn("[mobx] (error in reaction '"+this.name_+"' suppressed, fix error of causing action below)"):console.error(n,e),"production"!==process.env.NODE_ENV&&Ft()&&Jt({type:"error",name:this.name_,message:n,error:""+e}),Rt.globalReactionErrorHandlers.forEach((function(n){return 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0===_()[e]&&d("MobX requires global '"+e+"' to be available or polyfilled")})),"object"==typeof __MOBX_DEVTOOLS_GLOBAL_HOOK__&&__MOBX_DEVTOOLS_GLOBAL_HOOK__.injectMobx({spy:function(e){return"production"===process.env.NODE_ENV?(console.warn("[mobx.spy] Is a no-op in production builds"),function(){}):(Rt.spyListeners.push(e),R((function(){Rt.spyListeners=Rt.spyListeners.filter((function(t){return t!==e}))})))},extras:{getDebugName:va},$mobx:ae});var Wa="line",Ha="mesh";function qa(t){var n=t.connectedMotionGroup,o=s(t,["connectedMotionGroup"]),c=new r.Matrix4;function u(e,t){var n=new r.Vector3,a=new r.Quaternion,o=new r.Vector3;c.decompose(n,a,o);var i=n.clone(),s=(new r.Matrix4).makeRotationY(e.theta+t(e.reverse_rotation_direction?-1:1)).multiply((new r.Matrix4).makeTranslation(0,e.d/1e3,0)).multiply((new r.Matrix4).makeTranslation(e.a/1e3,0,0)).multiply((new r.Matrix4).makeRotationX(e.alpha));return c.multiply(s),c.decompose(n,a,o),{a:i,b:n}}return e.jsxs(e.Fragment,{children:[e.jsx(Ra,{connectedMotionGroup:n,robotRootObjectName:"Scene",onRotationChanged:function(e,t){c.identity(),e.forEach((function(e,a){!function(e,t,a,o){var r=n.motionGroupSpecification.dh_parameters;if(r){var i=r[e];if(i){var s=u(i,o),c=s.a,l=s.b;t.geometry.setPositions([c.toArray(),l.toArray()].flat()),a.position.set(l.x,l.y,l.z)}}}(a,e.getObjectByName(Wa),e.getObjectByName(Ha),t[a])}))},jointCollector:function(e){return l(e,"^group_[0-9]+$")}}),e.jsxs("group",i({},o,{name:"Scene",children:[e.jsxs("mesh",{children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n.motionGroupSpecification.dh_parameters.map((function(t,o){var r,i=u(t,null!==(r=n.rapidlyChangingMotionState.state.joint_position.joints[o])&&void 0!==r?r:0),s=i.a,c=i.b;return e.jsxs("group",{name:"group_".concat(o),children:[e.jsx(a.Line,{name:Wa,points:[s,c],color:"white",lineWidth:5}),e.jsxs("mesh",{name:Ha,position:c,children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+o)]},"group_"+o)}))]}))]})}function za(e){return"https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/".concat(e,".glb")}var Ya=Array(6).fill(2Math.PI);function Za(t){var n=t.positions,o=void 0===n?[2,0,2,0,2,0,2,0]:n;return e.jsxs(e.Fragment,{children:[e.jsx(a.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),e.jsx("group",{rotation:[0,.5,0],children:e.jsx("group",{children:o.map((function(t,n){return e.jsx(a.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[t,4,4n],scale:[3,1,1]},n)}))})}),e.jsx(a.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsx(a.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsx(a.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsx(a.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.jsx(a.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}exports.ArrowForwardFilledIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M12 4L10.59 5.41L16.17 11H4V13H16.17L10.59 18.59L12 20L20 12L12 4Z",fill:"white"})})},exports.ExpandFilledIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M16.59 8.29492L12 12.8749L7.41 8.29492L6 9.70492L12 15.7049L18 9.70492L16.59 8.29492Z",fill:"white","fill-opacity":"0.8"})})},exports.HomeIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{"fill-rule":"evenodd","clip-rule":"evenodd",d:"M5 22C3.34315 22 2 20.6569 2 19V11.9225C2 10.7074 2.55236 9.55811 3.50122 8.79902L12 2L20.4988 8.79902C21.4476 9.55811 22 10.7074 22 11.9225V19C22 20.6569 20.6569 22 19 22H5ZM20.5 11.9225V19C20.5 19.8284 19.8284 20.5 19 20.5H16V14C16 12.8954 15.1046 12 14 12H10C8.89543 12 8 12.8954 8 14V20.5H5C4.17157 20.5 3.5 19.8284 3.5 19V11.9225C3.5 11.163 3.84522 10.4448 4.43826 9.97033L12 3.92094L19.5617 9.97033C20.1548 10.4448 20.5 11.163 20.5 11.9225Z",fill:"white"})})},exports.InfoOutlinedIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{d:"M11 7H13V9H11V7ZM11 11H13V17H11V11ZM12 2C6.48 2 2 6.48 2 12C2 17.52 6.48 22 12 22C17.52 22 22 17.52 22 12C22 6.48 17.52 2 12 2ZM12 20C7.59 20 4 16.41 4 12C4 7.59 7.59 4 12 4C16.41 4 20 7.59 20 12C20 16.41 16.41 20 12 20Z",fill:"white"})})},exports.PresetEnvironment=function(){return e.jsx(a.Environment,{children:e.jsx(Za,{})})},exports.RobotIcon=function(){return e.jsx("svg",{width:"24",height:"24",viewBox:"0 0 24 24",fill:"none",xmlns:"http://www.w3.org/2000/svg",children:e.jsx("path",{"fill-rule":"evenodd","clip-rule":"evenodd",d:"M8.47826 18.9999V21.2219V22.913H10.1694H16.961H18.6522V21.2219V18.2174L13.1958 12.761L12 11.5652L13.1958 10.3694L13.5433 10.0219L14.7391 8.82609L15.8911 9.9781L15.9349 10.0219L17.087 11.1739L18.2828 9.9781L19.8042 8.45668L21 7.26087L19.8042 6.06506L15.9349 2.19581L14.7391 1L13.5433 2.19581L4.19581 11.5433L3 12.7391L4.19581 13.9349L8.47817 18.2173V18.9999H8.47826ZM10.1694 18.9999V21.2219H16.961V18.9179L10.8042 12.761L9.60839 11.5652L10.8042 10.3694L13.5433 7.63028L13.5534 7.62018L12.032 6.09875L5.39161 12.7391L9.67407 17.0216L10.0872 17.4347H13.5651L15.1303 18.9999H10.1694ZM18.6084 7.26087L17.093 8.7763L13.2237 4.90705L14.7391 3.39161L18.6084 7.26087Z",fill:"white"})})},exports.SupportedRobot=function(n){var a,o=n.getModel,r=void 0===o?za:o,c=s(n,["getModel"]),u=c.connectedMotionGroup.modelFromController;switch(u){case"UniversalRobots_UR3":a=Aa;break;case"UniversalRobots_UR3e":a=Oa;break;case"UniversalRobots_UR5":a=La;break;case"UniversalRobots_UR5e":a=Na;break;case"UniversalRobots_UR10":a=Ia;break;case"UniversalRobots_UR10e":a=Ea;break;case"Yaskawa_AR900":case"Yaskawa_GP7":a=Ca;break;case"Yaskawa_AR1440":a=Pa;break;case"Yaskawa_AR1730":a=ka;break;case"Yaskawa_AR2010":a=Da;break;case"Yaskawa_AR3120":a=Ua;break;case"FANUC_CRX10iA":a=Va;break;case"FANUC_CRX25iA":a=Ba;break;case"FANUC_CRX25iAL":a=Ga;break;case"FANUC_ARC_Mate_120iD":a=Xa;break;case"FANUC_ARC_Mate_100iD":a=Ja;break;case"KUKA_KR210_R2700":a=Ta;break;case"KUKA_KR270_R2700":a=Fa;break;case"ABB_1200_07_7":a=Ka;break;default:console.warn("Unknown robot type: ".concat(u)),a=qa}return e.jsx(t.Suspense,{fallback:e.jsx(qa,i({},c)),children:e.jsx(a,i({modelURL:r(u)},c))})},exports.WBLogoIcon=function(t){var n=t.width,a=void 0===n?21:n,o=t.fillColor,r=void 0===o?"white":o;return e.jsxs("svg",{width:"".concat(a),height:"".concat(1.19*a),viewBox:"0 0 21 25",fill:r,style:{transition:"fill 2s ease"},xmlns:"http://www.w3.org/2000/svg",children:[e.jsx("path",{d:"M0 8.25553V14.2168L17.0228 4.47097L14.4197 0L0 8.25553Z"}),e.jsx("path",{d:"M9.70299 11.6758L0 17.2112V23.1846L9.70299 17.6492V11.6758Z"}),e.jsx("path",{d:"M11.8886 19.4131L2.22571 24.993H15.5035V19.4131H11.8886Z"})]})},exports.defaultAxisConfig=Ya;