@wandelbots/wandelbots-js-react-components 1.13.2 → 1.13.4

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Files changed (14) hide show
  1. package/dist/components/jogging/JoggingOptions.d.ts.map +1 -1
  2. package/dist/components/jogging/JoggingStore.d.ts +1 -1
  3. package/dist/components/jogging/JoggingStore.d.ts.map +1 -1
  4. package/dist/components/wandelscript-editor/WandelscriptEditor.d.ts.map +1 -1
  5. package/dist/index.cjs +11 -11
  6. package/dist/index.cjs.map +1 -1
  7. package/dist/index.js +758 -759
  8. package/dist/index.js.map +1 -1
  9. package/package.json +1 -2
  10. package/src/components/jogging/JoggingCartesianTab.tsx +4 -4
  11. package/src/components/jogging/JoggingOptions.tsx +10 -8
  12. package/src/components/jogging/JoggingPanel.tsx +3 -3
  13. package/src/components/jogging/JoggingStore.tsx +4 -4
  14. package/src/components/wandelscript-editor/WandelscriptEditor.tsx +2 -2
package/dist/index.cjs CHANGED
@@ -32,17 +32,17 @@ React keys must be passed directly to JSX without using spread:
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s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"kuka_kr270_2700_ultra",children:[s.jsxs(S.animated.group,{name:"joint_01",children:[s.jsxs(S.animated.group,{name:"joint_02",position:[.35,.675,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"joint_03",position:[1.15,0,0],rotation:[0,-Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"joint_04",position:[-.041,0,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"joint_05",position:[0,-1.2,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"joint_06",rotation:[Math.PI/2,0,0],children:[s.jsx("group",{name:"flange",position:[0,-.24,0],rotation:[-Math.PI,0,0]}),s.jsx("group",{name:"link_6",position:[0,-.213,0],rotation:[0,0,-Math.PI/2],children:s.jsxs("group",{name:"visuals006",children:[s.jsx("mesh",{name:"visuals006_1",castShadow:!0,receiveShadow:!0,geometry:o.visuals006_1.geometry,material:a.material_Material_Farbe__1_}),s.jsx("mesh",{name:"visuals006_2",castShadow:!0,receiveShadow:!0,geometry:o.visuals006_2.geometry,material:a.material_Material_Metall})]})})]}),s.jsx("group",{name:"link_5",position:[0,.044,0],rotation:[Math.PI/2,0,-Math.PI/2],children:s.jsx("mesh",{name:"visuals005",castShadow:!0,receiveShadow:!0,geometry:o.visuals005.geometry,material:a.material_Material_Farbe})})]}),s.jsx("group",{name:"link_4",position:[0,-.954,0],rotation:[0,0,-Math.PI/2],children:s.jsx("mesh",{name:"visuals004",castShadow:!0,receiveShadow:!0,geometry:o.visuals004.geometry,material:a.material_Material_Farbe})})]}),s.jsx("group",{name:"link_3",position:[0,-.178,0],rotation:[Math.PI/2,0,-Math.PI/2],children:s.jsxs("group",{name:"visuals003",children:[s.jsx("mesh",{name:"visuals003_1",castShadow:!0,receiveShadow:!0,geometry:o.visuals003_1.geometry,material:a.material_Material_Farbe__1_}),s.jsx("mesh",{name:"visuals003_2",castShadow:!0,receiveShadow:!0,geometry:o.visuals003_2.geometry,material:a.material_Material_Farbe__2_}),s.jsx("mesh",{name:"visuals003_3",castShadow:!0,receiveShadow:!0,geometry:o.visuals003_3.geometry,material:a.material_Material_Metall}),s.jsx("mesh",{name:"visuals003_4",castShadow:!0,receiveShadow:!0,geometry:o.visuals003_4.geometry,material:a.material_Material_Farbe})]})})]}),s.jsx("group",{name:"link_2",rotation:[Math.PI/2,0,0],children:s.jsxs("group",{name:"visuals002",children:[s.jsx("mesh",{name:"visuals002_1",castShadow:!0,receiveShadow:!0,geometry:o.visuals002_1.geometry,material:a.material_Material_Farbe}),s.jsx("mesh",{name:"visuals002_2",castShadow:!0,receiveShadow:!0,geometry:o.visuals002_2.geometry,material:a.material_Material_Farbe__1_}),s.jsx("mesh",{name:"visuals002_3",castShadow:!0,receiveShadow:!0,geometry:o.visuals002_3.geometry,material:a.material_Material_Metall}),s.jsx("mesh",{name:"visuals002_4",castShadow:!0,receiveShadow:!0,geometry:o.visuals002_4.geometry,material:a.material_Material_Farbe__2_})]})})]}),s.jsx("group",{name:"link_1",position:[0,.226,0],children:s.jsxs("group",{name:"visuals001",children:[s.jsx("mesh",{name:"visuals001_1",castShadow:!0,receiveShadow:!0,geometry:o.visuals001_1.geometry,material:a.material_Material_Metall}),s.jsx("mesh",{name:"visuals001_2",castShadow:!0,receiveShadow:!0,geometry:o.visuals001_2.geometry,material:a.material_Material_Farbe__1_}),s.jsx("mesh",{name:"visuals001_3",castShadow:!0,receiveShadow:!0,geometry:o.visuals001_3.geometry,material:a.material_Material_Farbe__2_}),s.jsx("mesh",{name:"visuals001_4",castShadow:!0,receiveShadow:!0,geometry:o.visuals001_4.geometry,material:a.material_Material_Farbe})]})})]}),s.jsxs("group",{name:"link_0-base",children:[s.jsx("group",{name:"joint_1"}),s.jsxs("group",{name:"visuals",children:[s.jsx("mesh",{name:"visuals_1",castShadow:!0,receiveShadow:!0,geometry:o.visuals_1.geometry,material:a.material_Material_Metall}),s.jsx("mesh",{name:"visuals_2",castShadow:!0,receiveShadow:!0,geometry:o.visuals_2.geometry,material:a.material_Material_Farbe__1_})]})]})]})})})]})}function tf({modelURL:e,rapidlyChangingMotionState:t,...r}){const n=ie.useGLTF(e),o=n.nodes,a=n.materials,i=[0,Math.PI/2,0,0,0,0];function l(c,u){c.forEach((d,h)=>d.rotation.y=u[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M10iD_L06",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L06.geometry,material:a.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),s.jsx("mesh",{name:"M10iD_L05",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L05.geometry,material:a.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),s.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_654",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_654.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_654_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_654_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_378",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378.geometry,material:a.Material_1_AO}),s.jsx("mesh",{name:"Mesh_378_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_378_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_358",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_358.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_358_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_358_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L01",children:[s.jsx("mesh",{name:"Mesh_356",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_356_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356_1.geometry,material:a.Material_1_AO}),s.jsx("mesh",{name:"Mesh_356_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M10iD_L00",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L00.geometry,material:a.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})]})}function _s({modelURL:e,rapidlyChangingMotionState:t,...r}){const n=ie.useGLTF(e),o=n.nodes,a=n.materials,i=[0,Math.PI/2,0,0,0,0];function l(c,u){c.forEach((d,h)=>d.rotation.y=u[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[0,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J00",children:[s.jsxs(S.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J05",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M20iD25_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M20iD25_L06",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L06.geometry,material:a.Fanuc_BlackMetal_AO,position:[0,-.09,0],rotation:[Math.PI/2,0,Math.PI]})]}),s.jsx("mesh",{name:"M20iD25_L05",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L05.geometry,material:a.Fanuc_BlackMetal_AO,rotation:[Math.PI,Math.PI/2,0]})]}),s.jsxs("group",{name:"M20iD25_L04",position:[0,-.286,0],rotation:[-Math.PI/2,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_2.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_2_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_2_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M20iD25_L03",position:[0,.406,0],rotation:[Math.PI,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_15",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15.geometry,material:a.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_15_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_15_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15_2.geometry,material:a.Material_9_AO})]})]}),s.jsxs("group",{name:"M20iD25_L02",position:[0,.505,-.055],rotation:[-Math.PI,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_37",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_37.geometry,material:a.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_37_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_37_1.geometry,material:a.Fanuc_Yellow_Textured_AO})]})]}),s.jsxs("group",{name:"M20iD25_L01",rotation:[-Math.PI/2,0,0],children:[s.jsx("mesh",{name:"Mesh_45",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45.geometry,material:a.Material_9_AO}),s.jsx("mesh",{name:"Mesh_45_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_45_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M20iD25_L00",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L00.geometry,material:a.Fanuc_BlackMetal_AO,position:[0,-.425,0],rotation:[-Math.PI/2,0,0]})]})})})]})}function rf({modelURL:e,rapidlyChangingMotionState:t,...r}){const n=ie.useGLTF(e),o=n.nodes,a=n.materials,i=[0,-Math.PI/2,0,0,0,0];function l(c,u){c.forEach((d,h)=>d.rotation.y=u[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"IRB1200_7_70_IRC5",rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J06",rotation:[Math.PI/2,0,-Math.PI],children:[s.jsx("group",{name:"IRB1200_7_70_IRC5_FLG",position:[0,.082,0]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L06",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L06.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L05",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L05.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L04",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L04.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L03",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L03.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L02",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L02.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L01",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L01.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[Math.PI/2,0,0]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L00",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L00.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[-Math.PI/2,0,0]})]})})})]})}const bs="line",Ss="mesh";function Eo({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4;function o(c,u){const d=new vt.Vector3,h=new vt.Quaternion,f=new vt.Vector3;n.decompose(d,h,f);const b=d.clone(),y=new vt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(c.alpha));return n.multiply(y),n.decompose(d,h,f),{a:b,b:d}}function a(c,u,d,h){if(!t)return;const f=t[c];if(!f)return;const{a:b,b:y}=o(f,h);u.geometry.setPositions([b.toArray(),y.toArray()].flat()),d.position.set(y.x,y.y,y.z)}function i(c,u){n.identity(),c.forEach((d,h)=>{a(h,d.getObjectByName(bs),d.getObjectByName(Ss),u[h])})}function l(c){return tl(c,"^group_[0-9]+$")}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:e,robotRootObjectName:"Scene",onRotationChanged:i,jointCollector:l}),s.jsxs("group",{...r,name:"Scene",children:[s.jsxs("mesh",{children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((c,u)=>{const{a:d,b:h}=o(c,e.state.joint_position.joints[u]??0);return s.jsxs("group",{name:`group_${u}`,children:[s.jsx(ie.Line,{name:bs,points:[d,h],color:"white",lineWidth:5}),s.jsxs("mesh",{name:Ss,position:h,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},"group_"+u)})]})]})}const nf=console.warn;function of(){return q.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&nf(e)}},[]),s.jsx(s.Fragment,{})}function Sa(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const ol=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Sa,isGhost:o=!1,...a})=>{let i;const l=q.useRef(new Ce.Group),c=q.useCallback(h=>{h!==null&&(l.current=h,console.log("robotRef.current",l.current),o&&l.current&&l.current.children.length>0&&u())},[o]),u=()=>{l.current&&!l.current.userData.ghostsCreated&&(l.current.traverse(h=>{if(h instanceof Ce.Mesh&&!h.userData.isGhost){h.material instanceof Ce.Material&&(h.material.colorWrite=!1);const f=h.clone(),b=h.clone();f.material=new Ce.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),f.userData.isGhost=!0,b.material=new Ce.MeshStandardMaterial({color:"#D91433",opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-1}),b.userData.isGhost=!0,h.parent&&(h.parent.add(f),h.parent.add(b))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const h=[];l.current.traverse(f=>{f instanceof Ce.Mesh&&f.material instanceof Ce.Material&&(f.material.colorWrite=!0),f instanceof Ce.Mesh&&f.userData!==void 0&&f.userData&&f.userData.isGhost!==void 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s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M10iD_L06",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L06.geometry,material:a.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),s.jsx("mesh",{name:"M10iD_L05",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L05.geometry,material:a.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),s.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_654",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_654.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_654_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_654_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_378",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378.geometry,material:a.Material_1_AO}),s.jsx("mesh",{name:"Mesh_378_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_378_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_378_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_358",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_358.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_358_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_358_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L01",children:[s.jsx("mesh",{name:"Mesh_356",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_356_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356_1.geometry,material:a.Material_1_AO}),s.jsx("mesh",{name:"Mesh_356_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_356_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M10iD_L00",castShadow:!0,receiveShadow:!0,geometry:o.M10iD_L00.geometry,material:a.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})]})}function 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s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[0,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J00",children:[s.jsxs(S.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"M20iD25_J05",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M20iD25_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M20iD25_L06",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L06.geometry,material:a.Fanuc_BlackMetal_AO,position:[0,-.09,0],rotation:[Math.PI/2,0,Math.PI]})]}),s.jsx("mesh",{name:"M20iD25_L05",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L05.geometry,material:a.Fanuc_BlackMetal_AO,rotation:[Math.PI,Math.PI/2,0]})]}),s.jsxs("group",{name:"M20iD25_L04",position:[0,-.286,0],rotation:[-Math.PI/2,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_2.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_2_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_2_1.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M20iD25_L03",position:[0,.406,0],rotation:[Math.PI,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_15",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15.geometry,material:a.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_15_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_15_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_15_2.geometry,material:a.Material_9_AO})]})]}),s.jsxs("group",{name:"M20iD25_L02",position:[0,.505,-.055],rotation:[-Math.PI,Math.PI/2,0],children:[s.jsx("mesh",{name:"Mesh_37",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_37.geometry,material:a.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_37_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_37_1.geometry,material:a.Fanuc_Yellow_Textured_AO})]})]}),s.jsxs("group",{name:"M20iD25_L01",rotation:[-Math.PI/2,0,0],children:[s.jsx("mesh",{name:"Mesh_45",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45.geometry,material:a.Material_9_AO}),s.jsx("mesh",{name:"Mesh_45_1",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45_1.geometry,material:a.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_45_2",castShadow:!0,receiveShadow:!0,geometry:o.Mesh_45_2.geometry,material:a.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M20iD25_L00",castShadow:!0,receiveShadow:!0,geometry:o.M20iD25_L00.geometry,material:a.Fanuc_BlackMetal_AO,position:[0,-.425,0],rotation:[-Math.PI/2,0,0]})]})})})]})}function nf({modelURL:e,rapidlyChangingMotionState:t,...r}){const n=ie.useGLTF(e),o=n.nodes,a=n.materials,i=[0,-Math.PI/2,0,0,0,0];function l(c,u){c.forEach((d,h)=>d.rotation.y=u[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"IRB1200_7_70_IRC5",rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(S.animated.group,{name:"IRB1200_7_70_IRC5_J06",rotation:[Math.PI/2,0,-Math.PI],children:[s.jsx("group",{name:"IRB1200_7_70_IRC5_FLG",position:[0,.082,0]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L06",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L06.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L05",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L05.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L04",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L04.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L03",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L03.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L02",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L02.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L01",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L01.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[Math.PI/2,0,0]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L00",castShadow:!0,receiveShadow:!0,geometry:o.IRB1200_7_70_IRC5_L00.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[-Math.PI/2,0,0]})]})})})]})}const bs="line",Ss="mesh";function Eo({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4;function o(c,u){const d=new vt.Vector3,h=new vt.Quaternion,f=new vt.Vector3;n.decompose(d,h,f);const b=d.clone(),y=new vt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(c.alpha));return n.multiply(y),n.decompose(d,h,f),{a:b,b:d}}function a(c,u,d,h){if(!t)return;const f=t[c];if(!f)return;const{a:b,b:y}=o(f,h);u.geometry.setPositions([b.toArray(),y.toArray()].flat()),d.position.set(y.x,y.y,y.z)}function i(c,u){n.identity(),c.forEach((d,h)=>{a(h,d.getObjectByName(bs),d.getObjectByName(Ss),u[h])})}function l(c){return tl(c,"^group_[0-9]+$")}return s.jsxs(s.Fragment,{children:[s.jsx(ge,{rapidlyChangingMotionState:e,robotRootObjectName:"Scene",onRotationChanged:i,jointCollector:l}),s.jsxs("group",{...r,name:"Scene",children:[s.jsxs("mesh",{children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((c,u)=>{const{a:d,b:h}=o(c,e.state.joint_position.joints[u]??0);return s.jsxs("group",{name:`group_${u}`,children:[s.jsx(ie.Line,{name:bs,points:[d,h],color:"white",lineWidth:5}),s.jsxs("mesh",{name:Ss,position:h,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},"group_"+u)})]})]})}const of=console.warn;function af(){return q.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&of(e)}},[]),s.jsx(s.Fragment,{})}function Sa(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const ol=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Sa,isGhost:o=!1,...a})=>{let i;const l=q.useRef(new Ce.Group),c=q.useCallback(h=>{h!==null&&(l.current=h,console.log("robotRef.current",l.current),o&&l.current&&l.current.children.length>0&&u())},[o]),u=()=>{l.current&&!l.current.userData.ghostsCreated&&(l.current.traverse(h=>{if(h instanceof Ce.Mesh&&!h.userData.isGhost){h.material instanceof Ce.Material&&(h.material.colorWrite=!1);const f=h.clone(),b=h.clone();f.material=new Ce.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),f.userData.isGhost=!0,b.material=new Ce.MeshStandardMaterial({color:"#D91433",opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-1}),b.userData.isGhost=!0,h.parent&&(h.parent.add(f),h.parent.add(b))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const h=[];l.current.traverse(f=>{f instanceof Ce.Mesh&&f.material instanceof Ce.Material&&(f.material.colorWrite=!0),f instanceof Ce.Mesh&&f.userData!==void 0&&f.userData&&f.userData.isGhost!==void 0&&f.userData.isGhost&&h.push(f)}),h.forEach(f=>{f.parent&&f.parent.remove(f)}),l.current.userData.ghostsCreated=!1}};switch(q.useEffect(()=>{o?u():d()},[o]),t){case"UniversalRobots_UR3":i=Dd;break;case"UniversalRobots_UR3e":i=Ud;break;case"UniversalRobots_UR5":i=Bd;break;case"UniversalRobots_UR5e":i=Jd;break;case"UniversalRobots_UR10":i=Vd;break;case"UniversalRobots_UR10e":i=Gd;break;case"Yaskawa_AR900":i=ys;break;case"Yaskawa_GP7":i=ys;break;case"Yaskawa_AR1440":i=zd;break;case"Yaskawa_AR1730":i=Wd;break;case"Yaskawa_AR2010":i=Hd;break;case"Yaskawa_AR3120":i=Kd;break;case"Yaskawa_GP50":i=Xd;break;case"FANUC_CRX10iA":i=qd;break;case"FANUC_CRX20iAL":i=Yd;break;case"FANUC_CRX25iA":i=Zd;break;case"FANUC_CRX25iAL":i=Qd;break;case"FANUC_ARC_Mate_120iD":i=_s;break;case"FANUC_ARC_Mate_120iD35":i=_s;break;case"FANUC_ARC_Mate_100iD":i=rf;break;case"KUKA_KR210_R2700":i=ef;break;case"KUKA_KR270_R2700":i=tf;break;case"ABB_1200_07_7":i=nf;break;default:console.warn(`Unknown robot type: 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40
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  * LICENSE file in the root directory of this source tree.
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  * @license React
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  * react-is.production.min.js
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  *
@@ -50,7 +50,7 @@ React keys must be passed directly to JSX without using spread:
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  *
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  * This source code is licensed under the MIT license found in the
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  * LICENSE file in the root directory of this source tree.
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+ */var As;function Xh(){if(As)return ae;As=1;var e=Symbol.for("react.element"),t=Symbol.for("react.portal"),r=Symbol.for("react.fragment"),n=Symbol.for("react.strict_mode"),o=Symbol.for("react.profiler"),a=Symbol.for("react.provider"),i=Symbol.for("react.context"),l=Symbol.for("react.server_context"),c=Symbol.for("react.forward_ref"),u=Symbol.for("react.suspense"),d=Symbol.for("react.suspense_list"),h=Symbol.for("react.memo"),f=Symbol.for("react.lazy"),b=Symbol.for("react.offscreen"),y;y=Symbol.for("react.module.reference");function _(g){if(typeof g=="object"&&g!==null){var v=g.$$typeof;switch(v){case e:switch(g=g.type,g){case r:case o:case n:case u:case d:return g;default:switch(g=g&&g.$$typeof,g){case l:case i:case c:case f:case h:case a:return g;default:return v}}case t:return v}}}return ae.ContextConsumer=i,ae.ContextProvider=a,ae.Element=e,ae.ForwardRef=c,ae.Fragment=r,ae.Lazy=f,ae.Memo=h,ae.Portal=t,ae.Profiler=o,ae.StrictMode=n,ae.Suspense=u,ae.SuspenseList=d,ae.isAsyncMode=function(){return!1},ae.isConcurrentMode=function(){return!1},ae.isContextConsumer=function(g){return _(g)===i},ae.isContextProvider=function(g){return _(g)===a},ae.isElement=function(g){return typeof g=="object"&&g!==null&&g.$$typeof===e},ae.isForwardRef=function(g){return _(g)===c},ae.isFragment=function(g){return _(g)===r},ae.isLazy=function(g){return _(g)===f},ae.isMemo=function(g){return _(g)===h},ae.isPortal=function(g){return _(g)===t},ae.isProfiler=function(g){return _(g)===o},ae.isStrictMode=function(g){return _(g)===n},ae.isSuspense=function(g){return _(g)===u},ae.isSuspenseList=function(g){return _(g)===d},ae.isValidElementType=function(g){return typeof g=="string"||typeof g=="function"||g===r||g===o||g===n||g===u||g===d||g===b||typeof g=="object"&&g!==null&&(g.$$typeof===f||g.$$typeof===h||g.$$typeof===a||g.$$typeof===i||g.$$typeof===c||g.$$typeof===y||g.getModuleId!==void 0)},ae.typeOf=_,ae}var se={};/**
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  * @license React
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55
  * react-is.development.js
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  *
@@ -58,11 +58,11 @@ React keys must be passed directly to JSX without using spread:
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  *
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  * This source code is licensed under the MIT license found in the
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  * LICENSE file in the root directory of this source tree.
61
- */var Ps;function Xh(){return Ps||(Ps=1,process.env.NODE_ENV!=="production"&&function(){var e=Symbol.for("react.element"),t=Symbol.for("react.portal"),r=Symbol.for("react.fragment"),n=Symbol.for("react.strict_mode"),o=Symbol.for("react.profiler"),a=Symbol.for("react.provider"),i=Symbol.for("react.context"),l=Symbol.for("react.server_context"),c=Symbol.for("react.forward_ref"),u=Symbol.for("react.suspense"),d=Symbol.for("react.suspense_list"),h=Symbol.for("react.memo"),f=Symbol.for("react.lazy"),b=Symbol.for("react.offscreen"),y=!1,_=!1,g=!1,v=!1,R=!1,C;C=Symbol.for("react.module.reference");function k(M){return!!(typeof M=="string"||typeof M=="function"||M===r||M===o||R||M===n||M===u||M===d||v||M===b||y||_||g||typeof M=="object"&&M!==null&&(M.$$typeof===f||M.$$typeof===h||M.$$typeof===a||M.$$typeof===i||M.$$typeof===c||M.$$typeof===C||M.getModuleId!==void 0))}function j(M){if(typeof M=="object"&&M!==null){var ee=M.$$typeof;switch(ee){case e:var he=M.type;switch(he){case r:case o:case 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Yr={black:"#000",white:"#fff"},C0={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},lr={50:"#f3e5f5",100:"#e1bee7",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",600:"#8e24aa",700:"#7b1fa2",800:"#6a1b9a",900:"#4a148c",A100:"#ea80fc",A200:"#e040fb",A400:"#d500f9",A700:"#aa00ff"},cr={50:"#ffebee",100:"#ffcdd2",200:"#ef9a9a",300:"#e57373",400:"#ef5350",500:"#f44336",600:"#e53935",700:"#d32f2f",800:"#c62828",900:"#b71c1c",A100:"#ff8a80",A200:"#ff5252",A400:"#ff1744",A700:"#d50000"},Ur={50:"#fff3e0",100:"#ffe0b2",200:"#ffcc80",300:"#ffb74d",400:"#ffa726",500:"#ff9800",600:"#fb8c00",700:"#f57c00",800:"#ef6c00",900:"#e65100",A100:"#ffd180",A200:"#ffab40",A400:"#ff9100",A700:"#ff6d00"},ur={50:"#e3f2fd",100:"#bbdefb",200:"#90caf9",300:"#64b5f6",400:"#42a5f5",500:"#2196f3",600:"#1e88e5",700:"#1976d2",800:"#1565c0",900:"#0d47a1",A100:"#82b1ff",A200:"#448aff",A400:"#2979ff",A700:"#2962ff"},dr={50:"#e1f5fe",100:"#b3e5fc",200:"#81d4fa",300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",600:"#039be5",700:"#0288d1",800:"#0277bd",900:"#01579b",A100:"#80d8ff",A200:"#40c4ff",A400:"#00b0ff",A700:"#0091ea"},fr={50:"#e8f5e9",100:"#c8e6c9",200:"#a5d6a7",300:"#81c784",400:"#66bb6a",500:"#4caf50",600:"#43a047",700:"#388e3c",800:"#2e7d32",900:"#1b5e20",A100:"#b9f6ca",A200:"#69f0ae",A400:"#00e676",A700:"#00c853"},A0=["mode","contrastThreshold","tonalOffset"],Vs={text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:Yr.white,default:Yr.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}},Do={text:{primary:Yr.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:Yr.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}};function Gs(e,t,r,n){const o=n.light||n,a=n.dark||n*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=ia(e.main,o):t==="dark"&&(e.dark=sa(e.main,a)))}function P0(e="light"){return e==="dark"?{main:ur[200],light:ur[50],dark:ur[400]}:{main:ur[700],light:ur[400],dark:ur[800]}}function O0(e="light"){return e==="dark"?{main:lr[200],light:lr[50],dark:lr[400]}:{main:lr[500],light:lr[300],dark:lr[700]}}function T0(e="light"){return e==="dark"?{main:cr[500],light:cr[300],dark:cr[700]}:{main:cr[700],light:cr[400],dark:cr[800]}}function M0(e="light"){return e==="dark"?{main:dr[400],light:dr[300],dark:dr[700]}:{main:dr[700],light:dr[500],dark:dr[900]}}function I0(e="light"){return e==="dark"?{main:fr[400],light:fr[300],dark:fr[700]}:{main:fr[800],light:fr[500],dark:fr[900]}}function E0(e="light"){return e==="dark"?{main:Ur[400],light:Ur[300],dark:Ur[700]}:{main:"#ed6c02",light:Ur[500],dark:Ur[900]}}function L0(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:n=.2}=e,o=Ue(e,A0),a=e.primary||P0(t),i=e.secondary||O0(t),l=e.error||T0(t),c=e.info||M0(t),u=e.success||I0(t),d=e.warning||E0(t);function h(_){const g=Bs(_,Do.text.primary)>=r?Do.text.primary:Vs.text.primary;if(process.env.NODE_ENV!=="production"){const v=Bs(_,g);v<3&&console.error([`MUI: The contrast ratio of ${v}:1 for ${g} on ${_}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
65
+ The following color spaces are supported: srgb, display-p3, a98-rgb, prophoto-rgb, rec-2020.`:(0,Js.default)(10,o))}else n=n.split(",");return n=n.map(a=>parseFloat(a)),{type:r,values:n,colorSpace:o}}const Nl=e=>{const t=rt(e);return t.values.slice(0,3).map((r,n)=>t.type.indexOf("hsl")!==-1&&n!==0?`${r}%`:r).join(" ")};be.colorChannel=Nl;const b0=(e,t)=>{try{return Nl(e)}catch{return t&&process.env.NODE_ENV!=="production"&&console.warn(t),e}};be.private_safeColorChannel=b0;function Cr(e){const{type:t,colorSpace:r}=e;let{values:n}=e;return t.indexOf("rgb")!==-1?n=n.map((o,a)=>a<3?parseInt(o,10):o):t.indexOf("hsl")!==-1&&(n[1]=`${n[1]}%`,n[2]=`${n[2]}%`),t.indexOf("color")!==-1?n=`${r} ${n.join(" ")}`:n=`${n.join(", ")}`,`${t}(${n})`}function S0(e){if(e.indexOf("#")===0)return e;const{values:t}=rt(e);return`#${t.map((r,n)=>_0(n===3?Math.round(255*r):r)).join("")}`}function Fl(e){e=rt(e);const{values:t}=e,r=t[0],n=t[1]/100,o=t[2]/100,a=n*Math.min(o,1-o),i=(u,d=(u+r/30)%12)=>o-a*Math.max(Math.min(d-3,9-d,1),-1);let l="rgb";const c=[Math.round(i(0)*255),Math.round(i(8)*255),Math.round(i(4)*255)];return e.type==="hsla"&&(l+="a",c.push(t[3])),Cr({type:l,values:c})}function Gn(e){e=rt(e);let t=e.type==="hsl"||e.type==="hsla"?rt(Fl(e)).values:e.values;return t=t.map(r=>(e.type!=="color"&&(r/=255),r<=.03928?r/12.92:((r+.055)/1.055)**2.4)),Number((.2126*t[0]+.7152*t[1]+.0722*t[2]).toFixed(3))}function x0(e,t){const r=Gn(e),n=Gn(t);return(Math.max(r,n)+.05)/(Math.min(r,n)+.05)}function Dl(e,t){return e=rt(e),t=Ta(t),(e.type==="rgb"||e.type==="hsl")&&(e.type+="a"),e.type==="color"?e.values[3]=`/${t}`:e.values[3]=t,Cr(e)}function v0(e,t,r){try{return Dl(e,t)}catch{return r&&process.env.NODE_ENV!=="production"&&console.warn(r),e}}function Ma(e,t){if(e=rt(e),t=Ta(t),e.type.indexOf("hsl")!==-1)e.values[2]*=1-t;else if(e.type.indexOf("rgb")!==-1||e.type.indexOf("color")!==-1)for(let r=0;r<3;r+=1)e.values[r]*=1-t;return Cr(e)}function w0(e,t,r){try{return Ma(e,t)}catch{return r&&process.env.NODE_ENV!=="production"&&console.warn(r),e}}function Ia(e,t){if(e=rt(e),t=Ta(t),e.type.indexOf("hsl")!==-1)e.values[2]+=(100-e.values[2])*t;else if(e.type.indexOf("rgb")!==-1)for(let r=0;r<3;r+=1)e.values[r]+=(255-e.values[r])*t;else if(e.type.indexOf("color")!==-1)for(let r=0;r<3;r+=1)e.values[r]+=(1-e.values[r])*t;return Cr(e)}function R0(e,t,r){try{return Ia(e,t)}catch{return r&&process.env.NODE_ENV!=="production"&&console.warn(r),e}}function Ul(e,t=.15){return Gn(e)>.5?Ma(e,t):Ia(e,t)}function j0(e,t,r){try{return Ul(e,t)}catch{return r&&process.env.NODE_ENV!=="production"&&console.warn(r),e}}function C0(e,t,r,n=1){const o=(c,u)=>Math.round((c**(1/n)*(1-r)+u**(1/n)*r)**n),a=rt(e),i=rt(t),l=[o(a.values[0],i.values[0]),o(a.values[1],i.values[1]),o(a.values[2],i.values[2])];return Cr({type:"rgb",values:l})}const Yr={black:"#000",white:"#fff"},A0={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},lr={50:"#f3e5f5",100:"#e1bee7",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",600:"#8e24aa",700:"#7b1fa2",800:"#6a1b9a",900:"#4a148c",A100:"#ea80fc",A200:"#e040fb",A400:"#d500f9",A700:"#aa00ff"},cr={50:"#ffebee",100:"#ffcdd2",200:"#ef9a9a",300:"#e57373",400:"#ef5350",500:"#f44336",600:"#e53935",700:"#d32f2f",800:"#c62828",900:"#b71c1c",A100:"#ff8a80",A200:"#ff5252",A400:"#ff1744",A700:"#d50000"},Ur={50:"#fff3e0",100:"#ffe0b2",200:"#ffcc80",300:"#ffb74d",400:"#ffa726",500:"#ff9800",600:"#fb8c00",700:"#f57c00",800:"#ef6c00",900:"#e65100",A100:"#ffd180",A200:"#ffab40",A400:"#ff9100",A700:"#ff6d00"},ur={50:"#e3f2fd",100:"#bbdefb",200:"#90caf9",300:"#64b5f6",400:"#42a5f5",500:"#2196f3",600:"#1e88e5",700:"#1976d2",800:"#1565c0",900:"#0d47a1",A100:"#82b1ff",A200:"#448aff",A400:"#2979ff",A700:"#2962ff"},dr={50:"#e1f5fe",100:"#b3e5fc",200:"#81d4fa",300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",600:"#039be5",700:"#0288d1",800:"#0277bd",900:"#01579b",A100:"#80d8ff",A200:"#40c4ff",A400:"#00b0ff",A700:"#0091ea"},fr={50:"#e8f5e9",100:"#c8e6c9",200:"#a5d6a7",300:"#81c784",400:"#66bb6a",500:"#4caf50",600:"#43a047",700:"#388e3c",800:"#2e7d32",900:"#1b5e20",A100:"#b9f6ca",A200:"#69f0ae",A400:"#00e676",A700:"#00c853"},P0=["mode","contrastThreshold","tonalOffset"],Vs={text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:Yr.white,default:Yr.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}},Do={text:{primary:Yr.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:Yr.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}};function Gs(e,t,r,n){const o=n.light||n,a=n.dark||n*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=ia(e.main,o):t==="dark"&&(e.dark=sa(e.main,a)))}function O0(e="light"){return e==="dark"?{main:ur[200],light:ur[50],dark:ur[400]}:{main:ur[700],light:ur[400],dark:ur[800]}}function T0(e="light"){return e==="dark"?{main:lr[200],light:lr[50],dark:lr[400]}:{main:lr[500],light:lr[300],dark:lr[700]}}function M0(e="light"){return e==="dark"?{main:cr[500],light:cr[300],dark:cr[700]}:{main:cr[700],light:cr[400],dark:cr[800]}}function I0(e="light"){return e==="dark"?{main:dr[400],light:dr[300],dark:dr[700]}:{main:dr[700],light:dr[500],dark:dr[900]}}function E0(e="light"){return e==="dark"?{main:fr[400],light:fr[300],dark:fr[700]}:{main:fr[800],light:fr[500],dark:fr[900]}}function L0(e="light"){return e==="dark"?{main:Ur[400],light:Ur[300],dark:Ur[700]}:{main:"#ed6c02",light:Ur[500],dark:Ur[900]}}function k0(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:n=.2}=e,o=Ue(e,P0),a=e.primary||O0(t),i=e.secondary||T0(t),l=e.error||M0(t),c=e.info||I0(t),u=e.success||E0(t),d=e.warning||L0(t);function h(_){const g=Bs(_,Do.text.primary)>=r?Do.text.primary:Vs.text.primary;if(process.env.NODE_ENV!=="production"){const v=Bs(_,g);v<3&&console.error([`MUI: The contrast ratio of ${v}:1 for ${g} on ${_}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
66
66
  `))}return g}const f=({color:_,name:g,mainShade:v=500,lightShade:R=300,darkShade:C=700})=>{if(_=A({},_),!_.main&&_[v]&&(_.main=_[v]),!_.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${g?` (${g})`:""} provided to augmentColor(color) is invalid.
67
67
  The color object needs to have a \`main\` property or a \`${v}\` property.`:Kr(11,g?` (${g})`:"",v));if(typeof _.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${g?` (${g})`:""} provided to augmentColor(color) is invalid.
68
68
  \`color.main\` should be a string, but \`${JSON.stringify(_.main)}\` was provided instead.
@@ -77,8 +77,8 @@ const theme1 = createTheme({ palette: {
77
77
 
78
78
  const theme2 = createTheme({ palette: {
79
79
  primary: { main: green[500] },
80
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a||++n!=o?a:(o=e==null?0:e.length,!!o&&Na(o)&&ac(i,o)&&(yt(e)||nc(e)))}function j_(e,t){return e!=null&&R_(e,t,w_)}var C_=1,A_=2;function P_(e,t){return Da(e)&&cc(t)?uc(bo(e),t):function(r){var n=v_(r,e);return n===void 0&&n===t?j_(r,e):_o(t,n,C_|A_)}}function O_(e){return e}function T_(e){return function(t){return t==null?void 0:t[e]}}function M_(e){return function(t){return mc(t,e)}}function I_(e){return Da(e)?T_(bo(e)):M_(e)}function E_(e){return typeof e=="function"?e:e==null?O_:typeof e=="object"?yt(e)?P_(e[0],e[1]):u_(e):I_(e)}function L_(e,t){return function(r,n){var o=yt(r)?Q1:a_,a={};return o(r,e,E_(n),a)}}var wn=L_(function(e,t,r){Z1(e,r,t)}),k_=0;function $_(e){var t=++k_;return fc(e)+t}const pa=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],N_=[{id:"continuous"},...pa];class Ba{constructor(t,r,n,o){var a,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=o,this.selectedTabId="cartesian",this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJoggingInProgress=!1,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.disposers=[];for(const l of n)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((a=n[0])==null?void 0:a.coordinate_system)||"world",this.selectedTcpId=((i=o[0])==null?void 0:i.id)||"",br.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(br.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:o},{tcps:a}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Ba(t,n,o||[],a||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}loadFromLocalStorage(){const t=$t.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return N_}get discreteIncrementOptions(){return pa}get incrementOptionsById(){return wn(this.incrementOptions,t=>t.id)}get tabsById(){return wn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return wn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return wn(this.tcps,t=>t.id)}get selectedDiscreteIncrement(){return pa.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInCurrentUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=$_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const F_=en(He.observer(e=>{var a,i,l,c;const t=Pc.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,r=He.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){br.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const u=await t.connectJogger(e.motionGroupId),d=await Ba.loadFor(u);br.runInAction(()=>{r.joggingStore=d}),e.onSetup&&e.onSetup(d)}catch(u){r.loadingError=u}}if(q.useEffect(()=>(n(),()=>{var u;(u=r.joggingStore)==null||u.dispose()}),[e.nova]),q.useEffect(()=>{if(!r.joggingStore)return;const{currentTab:u,selectedTcpId:d,activeCoordSystemId:h,selectedDiscreteIncrement:f}=r.joggingStore;if(u.id!=="cartesian"&&u.id!=="joint")return;const b={tcpId:d,coordSystemId:h};f&&u.id==="cartesian"?r.joggingStore.jogger.setJoggingMode("increment",b):r.joggingStore.jogger.setJoggingMode(u.id,b)},[(a=r.joggingStore)==null?void 0:a.currentTab,(i=r.joggingStore)==null?void 0:i.selectedTcpId,(l=r.joggingStore)==null?void 0:l.activeCoordSystemId,(c=r.joggingStore)==null?void 0:c.selectedDiscreteIncrement]),!r.joggingStore||r.loadingError)return s.jsx(wi,{children:s.jsx(Qi,{message:"Loading jogging",error:r.loadingError})});const{joggingStore:o}=r;return s.jsx(wi,{children:s.jsxs(L.Stack,{flexGrow:1,children:[s.jsx(L.Tabs,{value:o.tabIndex,onChange:o.onTabChange,children:o.tabs.map(u=>s.jsx(L.Tab,{label:u.label,id:`jogging-tab-${u.id}`,"aria-controls":`jogging-tab-${u.id}`},u.id))}),s.jsxs(L.Stack,{flexGrow:1,children:[o.currentTab.id==="cartesian"&&s.jsx(X1,{store:o}),o.currentTab.id==="joint"&&s.jsx(Y1,{store:o}),e.children]})]})})}));function wi({children:e}){return s.jsx(L.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(L.Paper,{sx:{height:"100%"},children:e})})}function D_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function U_({baseUrl:e=D_(),...t}){return s.jsxs(L.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[s.jsx(L.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(L.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(L.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(L.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(L.DialogActions,{children:s.jsxs(L.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(L.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(L.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const B_=Array(6).fill(2*Math.PI),ht={white:"#FFFFFF",midnightblue:"#001337",lightbuttonblue:"#47D3FF",midnightgray:"#DDE0E4",midnightgray500:"#828B9B",skyblue500:"#06B8F1",skyblue600:"#0094CE",darkishblue:"#262F42",darkestblue:"#101629",grayishblue:"#505968",darkgrayishblue:"#363c4b",scaryred:"#FF0E65",tealGreen:"#1AC0B2",magenta:"#EA3785"},J_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},V_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function G_(e){var o,a,i,l;let t=!0;((o=e.palette)==null?void 0:o.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((l=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:l.matches)));const r=t?J_:V_,n=la({palette:{mode:r.mode,primary:{main:r.colors.primary},background:{default:r.colors.background.default,paper:r.colors.background.panel}},typography:{allVariants:{color:r.colors.textDefault}},components:{MuiSelect:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor","& > div":{padding:"4px 16px"},"& fieldset":{border:t?"none":void 0}}}},MuiChip:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor"}}},MuiToggleButtonGroup:{styleOverrides:{root:{"& > button":{borderRadius:"8px",textTransform:"none",paddingTop:"4px",paddingBottom:"4px",width:"100%",borderWidth:0,backgroundColor:t?"#3d4455":void 0,color:t?"rgba(255, 255, 255, 0.8)":void 0,"&.Mui-selected":t?{color:"white",backgroundColor:"#505968"}:void 0}}}},MuiTabs:{styleOverrides:{root:{backgroundColor:t?"#101629":void 0,minHeight:"42px"}}},MuiTab:{styleOverrides:{root:{minHeight:"42px",textTransform:"none","&.Mui-selected":t?{color:"white",backgroundColor:"#404554"}:void 0}}}},nova:r});return e?la(n,e):n}exports.JoggingCartesianAxisControl=ca;exports.JoggingJointRotationControl=Wl;exports.JoggingPanel=F_;exports.NoMotionGroupModal=U_;exports.PresetEnvironment=sf;exports.Robot=af;exports.SafetyZonesRenderer=uf;exports.SupportedRobot=ol;exports.VelocitySlider=ql;exports.WandelscriptEditor=kd;exports.createNovaMuiTheme=G_;exports.defaultAxisConfig=B_;exports.defaultGetModel=Sa;exports.useAnimationFrame=wr;exports.useAutorun=rl;exports.useMounted=eo;exports.useReaction=nl;
80
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a||++n!=o?a:(o=e==null?0:e.length,!!o&&Na(o)&&ac(i,o)&&(yt(e)||nc(e)))}function C_(e,t){return e!=null&&j_(e,t,R_)}var A_=1,P_=2;function O_(e,t){return Da(e)&&cc(t)?uc(bo(e),t):function(r){var n=w_(r,e);return n===void 0&&n===t?C_(r,e):_o(t,n,A_|P_)}}function T_(e){return e}function M_(e){return function(t){return t==null?void 0:t[e]}}function I_(e){return function(t){return mc(t,e)}}function E_(e){return Da(e)?M_(bo(e)):I_(e)}function L_(e){return typeof e=="function"?e:e==null?T_:typeof e=="object"?yt(e)?O_(e[0],e[1]):d_(e):E_(e)}function k_(e,t){return function(r,n){var o=yt(r)?e_:s_,a={};return o(r,e,L_(n),a)}}var wn=k_(function(e,t,r){Q1(e,r,t)}),$_=0;function N_(e){var t=++$_;return fc(e)+t}const pa=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],F_=[{id:"continuous"},...pa];class Ba{constructor(t,r,n,o){var a,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=o,this.selectedTabId="cartesian",this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJoggingInProgress=!1,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.disposers=[];for(const l of n)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((a=n[0])==null?void 0:a.coordinate_system)||"world",this.selectedTcpId=((i=o[0])==null?void 0:i.id)||"",br.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(br.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:o},{tcps:a}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Ba(t,n,o||[],a||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}loadFromLocalStorage(){const t=$t.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return F_}get discreteIncrementOptions(){return pa}get incrementOptionsById(){return wn(this.incrementOptions,t=>t.id)}get tabsById(){return wn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return wn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return wn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:pa.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInCurrentUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=N_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const D_=en(He.observer(e=>{var a,i,l,c;const t=Pc.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,r=He.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){br.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const u=await t.connectJogger(e.motionGroupId),d=await Ba.loadFor(u);br.runInAction(()=>{r.joggingStore=d}),e.onSetup&&e.onSetup(d)}catch(u){r.loadingError=u}}if(q.useEffect(()=>(n(),()=>{var u;(u=r.joggingStore)==null||u.dispose()}),[e.nova]),q.useEffect(()=>{if(!r.joggingStore)return;const{currentTab:u,selectedTcpId:d,activeCoordSystemId:h,activeDiscreteIncrement:f}=r.joggingStore;if(u.id!=="cartesian"&&u.id!=="joint")return;const b={tcpId:d,coordSystemId:h};f&&u.id==="cartesian"?r.joggingStore.jogger.setJoggingMode("increment",b):r.joggingStore.jogger.setJoggingMode(u.id,b)},[(a=r.joggingStore)==null?void 0:a.currentTab,(i=r.joggingStore)==null?void 0:i.selectedTcpId,(l=r.joggingStore)==null?void 0:l.activeCoordSystemId,(c=r.joggingStore)==null?void 0:c.activeDiscreteIncrement]),!r.joggingStore||r.loadingError)return s.jsx(wi,{children:s.jsx(Qi,{message:"Loading jogging",error:r.loadingError})});const{joggingStore:o}=r;return s.jsx(wi,{children:s.jsxs(L.Stack,{flexGrow:1,children:[s.jsx(L.Tabs,{value:o.tabIndex,onChange:o.onTabChange,children:o.tabs.map(u=>s.jsx(L.Tab,{label:u.label,id:`jogging-tab-${u.id}`,"aria-controls":`jogging-tab-${u.id}`},u.id))}),s.jsxs(L.Stack,{flexGrow:1,children:[o.currentTab.id==="cartesian"&&s.jsx(q1,{store:o}),o.currentTab.id==="joint"&&s.jsx(Z1,{store:o}),e.children]})]})})}));function wi({children:e}){return s.jsx(L.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(L.Paper,{sx:{height:"100%"},children:e})})}function U_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function B_({baseUrl:e=U_(),...t}){return s.jsxs(L.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[s.jsx(L.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(L.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(L.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(L.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(L.DialogActions,{children:s.jsxs(L.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(L.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(L.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const J_=Array(6).fill(2*Math.PI),ht={white:"#FFFFFF",midnightblue:"#001337",lightbuttonblue:"#47D3FF",midnightgray:"#DDE0E4",midnightgray500:"#828B9B",skyblue500:"#06B8F1",skyblue600:"#0094CE",darkishblue:"#262F42",darkestblue:"#101629",grayishblue:"#505968",darkgrayishblue:"#363c4b",scaryred:"#FF0E65",tealGreen:"#1AC0B2",magenta:"#EA3785"},V_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},G_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function z_(e){var o,a,i,l;let t=!0;((o=e.palette)==null?void 0:o.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((l=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:l.matches)));const r=t?V_:G_,n=la({palette:{mode:r.mode,primary:{main:r.colors.primary},background:{default:r.colors.background.default,paper:r.colors.background.panel}},typography:{allVariants:{color:r.colors.textDefault}},components:{MuiSelect:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor","& > div":{padding:"4px 16px"},"& fieldset":{border:t?"none":void 0}}}},MuiChip:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor"}}},MuiToggleButtonGroup:{styleOverrides:{root:{"& > button":{borderRadius:"8px",textTransform:"none",paddingTop:"4px",paddingBottom:"4px",width:"100%",borderWidth:0,backgroundColor:t?"#3d4455":void 0,color:t?"rgba(255, 255, 255, 0.8)":void 0,"&.Mui-selected":t?{color:"white",backgroundColor:"#505968"}:void 0}}}},MuiTabs:{styleOverrides:{root:{backgroundColor:t?"#101629":void 0,minHeight:"42px"}}},MuiTab:{styleOverrides:{root:{minHeight:"42px",textTransform:"none","&.Mui-selected":t?{color:"white",backgroundColor:"#404554"}:void 0}}}},nova:r});return e?la(n,e):n}exports.JoggingCartesianAxisControl=ca;exports.JoggingJointRotationControl=Wl;exports.JoggingPanel=D_;exports.NoMotionGroupModal=B_;exports.PresetEnvironment=lf;exports.Robot=sf;exports.SafetyZonesRenderer=df;exports.SupportedRobot=ol;exports.VelocitySlider=ql;exports.WandelscriptEditor=$d;exports.createNovaMuiTheme=z_;exports.defaultAxisConfig=J_;exports.defaultGetModel=Sa;exports.useAnimationFrame=wr;exports.useAutorun=rl;exports.useMounted=eo;exports.useReaction=nl;
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