@wandelbots/wandelbots-js-react-components 1.13.3 → 1.13.5

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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/robots/UniversalRobots_UR5.d.ts.map +1 -1
  5. package/dist/index.cjs +28 -28
  6. package/dist/index.cjs.map +1 -1
  7. package/dist/index.js +1314 -1082
  8. package/dist/index.js.map +1 -1
  9. package/package.json +11 -10
  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/robots/UniversalRobots_UR5.tsx +218 -64
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@wandelbots/wandelbots-js-react-components",
3
- "version": "1.13.3",
3
+ "version": "1.13.5",
4
4
  "description": "React UI toolkit for building applications on top of the Wandelbots platform",
5
5
  "type": "module",
6
6
  "sideEffects": false,
@@ -23,7 +23,7 @@
23
23
  "dev:pack": "nodemon -V -w src -e '*' -x \"npm run build && npm pack\"",
24
24
  "dev:build": "nodemon -V -w src -e '*' -x \"vite build && tsc --declaration --emitDeclarationOnly\"",
25
25
  "dev:wbjs": "nodemon --watch $WBJS_PATH -e tgz --exec 'npm install file:$WBJS_PATH && storybook dev -p 6006 --no-open'",
26
- "tsc": "tsc --pretty --noEmit",
26
+ "tsc": "tsc --pretty --noEmit -p stories/tsconfig.json",
27
27
  "test": "npm run build",
28
28
  "build": "rimraf dist && vite build && tsc --declaration --emitDeclarationOnly",
29
29
  "build-storybook": "storybook build"
@@ -55,19 +55,20 @@
55
55
  "@storybook/react-vite": "^8.2.9",
56
56
  "@storybook/test": "^8.2.9",
57
57
  "@storybook/test-runner": "^0.19.1",
58
+ "@storybook/types": "^8.2.9",
58
59
  "@svgr/rollup": "^8.1.0",
59
60
  "@types/lodash-es": "^4.17.12",
60
- "@types/react": "^18.3.4",
61
- "@types/three": "^0.167.2",
61
+ "@types/react": "^18.3.5",
62
+ "@types/three": "^0.168.0",
62
63
  "@vitejs/plugin-react": "^4.3.1",
63
64
  "nodemon": "^3.1.4",
64
- "postcss": "^8.4.41",
65
+ "postcss": "^8.4.44",
65
66
  "prettier-eslint": "^16.3.0",
66
67
  "prop-types": "^15.8.1",
67
68
  "react": "^18.3.1",
68
69
  "react-dom": "^18.3.1",
69
70
  "rimraf": "^6.0.1",
70
- "rollup": "^4.21.0",
71
+ "rollup": "^4.21.2",
71
72
  "rollup-plugin-dts": "^6.1.1",
72
73
  "rollup-plugin-gltf": "^4.0.0",
73
74
  "rollup-plugin-peer-deps-external": "^2.2.4",
@@ -90,7 +91,7 @@
90
91
  "@react-three/fiber": ">=8",
91
92
  "react": "^18.2.0",
92
93
  "react-dom": "^18.2.0",
93
- "three": ">=0.167",
94
+ "three": ">=0.168",
94
95
  "three-stdlib": ">=2"
95
96
  },
96
97
  "peerDependenciesMeta": {
@@ -102,14 +103,14 @@
102
103
  "@monaco-editor/react": "^4.6.0",
103
104
  "@mui/icons-material": "^5.16.7",
104
105
  "@mui/lab": "^5.0.0-alpha.173",
105
- "@shikijs/monaco": "^1.14.1",
106
- "@wandelbots/wandelbots-js": "^1.8.3",
106
+ "@shikijs/monaco": "^1.16.1",
107
+ "@wandelbots/wandelbots-js": "^1.8.6",
107
108
  "i18next-browser-languagedetector": "^8.0.0",
108
109
  "lodash-es": "^4.17.21",
109
110
  "mobx": "^6.13.1",
110
111
  "mobx-react-lite": "^4.0.7",
111
112
  "react-error-boundary": "^4.0.13",
112
113
  "react-i18next": "^15.0.1",
113
- "shiki": "^1.14.1"
114
+ "shiki": "^1.16.1"
114
115
  }
115
116
  }
package/src/components/jogging/JoggingCartesianTab.tsx CHANGED
@@ -63,7 +63,7 @@ export const JoggingCartesianTab = observer(
63
63
 
64
64
  async function connectJogger() {
65
65
  store.jogger.setJoggingMode(
66
- store.selectedDiscreteIncrement ? "increment" : "cartesian",
66
+ store.activeDiscreteIncrement ? "increment" : "cartesian",
67
67
  {
68
68
  tcpId: store.selectedTcpId,
69
69
  coordSystemId: store.activeCoordSystemId,
@@ -113,8 +113,8 @@ export const JoggingCartesianTab = observer(
113
113
 
114
114
  connectJogger()
115
115
 
116
- if (store.selectedDiscreteIncrement) {
117
- return runIncrementalCartesianJog(opts, store.selectedDiscreteIncrement)
116
+ if (store.activeDiscreteIncrement) {
117
+ return runIncrementalCartesianJog(opts, store.activeDiscreteIncrement)
118
118
  }
119
119
 
120
120
  if (opts.motionType === "translate") {
@@ -135,7 +135,7 @@ export const JoggingCartesianTab = observer(
135
135
  async function stopJogging() {
136
136
  if (store.isLocked) return
137
137
 
138
- if (store.selectedDiscreteIncrement) {
138
+ if (store.activeDiscreteIncrement) {
139
139
  return
140
140
  }
141
141
 
package/src/components/jogging/JoggingOptions.tsx CHANGED
@@ -117,7 +117,7 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
117
117
  <InputLabel id="jogging-increment-select">{"Increment"}</InputLabel>
118
118
  <Select
119
119
  labelId="jogging-increment-select"
120
- value={store.selectedIncrementId}
120
+ value={store.activeDiscreteIncrement?.id || "continuous"}
121
121
  onChange={(event) => {
122
122
  store.setSelectedIncrementId(
123
123
  event.target.value as IncrementOptionId,
@@ -129,13 +129,15 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
129
129
  {t("Jogging.Increment.Continuous.dd")}
130
130
  </MenuItem>
131
131
 
132
- {store.discreteIncrementOptions.map((inc) => (
133
- <MenuItem key={inc.id} value={inc.id}>
134
- {store.currentMotionType === "translate"
135
- ? `${inc.mm}mm`
136
- : `${inc.degrees}°`}
137
- </MenuItem>
138
- ))}
132
+ {store.selectedOrientation === "tool"
133
+ ? null
134
+ : store.discreteIncrementOptions.map((inc) => (
135
+ <MenuItem key={inc.id} value={inc.id}>
136
+ {store.currentMotionType === "translate"
137
+ ? `${inc.mm}mm`
138
+ : `${inc.degrees}°`}
139
+ </MenuItem>
140
+ ))}
139
141
  </Select>
140
142
  </Stack>
141
143
  </Stack>
package/src/components/jogging/JoggingPanel.tsx CHANGED
@@ -70,7 +70,7 @@ export const JoggingPanel = externalizeComponent(
70
70
  currentTab,
71
71
  selectedTcpId,
72
72
  activeCoordSystemId,
73
- selectedDiscreteIncrement,
73
+ activeDiscreteIncrement,
74
74
  } = state.joggingStore
75
75
 
76
76
  if (currentTab.id !== "cartesian" && currentTab.id !== "joint") return
@@ -80,7 +80,7 @@ export const JoggingPanel = externalizeComponent(
80
80
  coordSystemId: activeCoordSystemId,
81
81
  }
82
82
 
83
- if (selectedDiscreteIncrement && currentTab.id === "cartesian") {
83
+ if (activeDiscreteIncrement && currentTab.id === "cartesian") {
84
84
  state.joggingStore.jogger.setJoggingMode(
85
85
  "increment",
86
86
  cartesianJoggingOpts,
@@ -95,7 +95,7 @@ export const JoggingPanel = externalizeComponent(
95
95
  state.joggingStore?.currentTab,
96
96
  state.joggingStore?.selectedTcpId,
97
97
  state.joggingStore?.activeCoordSystemId,
98
- state.joggingStore?.selectedDiscreteIncrement,
98
+ state.joggingStore?.activeDiscreteIncrement,
99
99
  ])
100
100
 
101
101
  if (!state.joggingStore || state.loadingError) {
package/src/components/jogging/JoggingStore.tsx CHANGED
@@ -251,10 +251,10 @@ export class JoggingStore {
251
251
  return keyBy(this.tcps, (tcp) => tcp.id)
252
252
  }
253
253
 
254
- get selectedDiscreteIncrement() {
255
- return discreteIncrementOptions.find(
256
- (d) => d.id === this.selectedIncrementId,
257
- )
254
+ get activeDiscreteIncrement() {
255
+ return this.selectedOrientation === "tool"
256
+ ? undefined
257
+ : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)
258
258
  }
259
259
 
260
260
  /** The selected rotation velocity converted to radians per second */
package/src/components/robots/UniversalRobots_UR5.tsx CHANGED
@@ -11,6 +11,7 @@ export function UniversalRobots_UR5({
11
11
  }: RobotProps) {
12
12
  const gltf = useGLTF(modelURL) as any
13
13
  const nodes = gltf.nodes
14
+ const materials = gltf.materials
14
15
 
15
16
  function setRotation(jointObjects: THREE.Object3D[], jointValues: number[]) {
16
17
  jointObjects.forEach(
@@ -27,83 +28,236 @@ export function UniversalRobots_UR5({
27
28
  />
28
29
  <group {...props} dispose={null}>
29
30
  <group name="Scene">
30
- <group name="UR5" rotation={[Math.PI / 2, 0, 0]}>
31
- <animated.group name="UR5_J01" rotation={[-Math.PI / 2, 0, 0]}>
31
+ <animated.group name="UNIVERSALROBOTS_UR5CB3_J00">
32
+ <animated.group name="link_1">
33
+ <mesh
34
+ name="visuals_1"
35
+ castShadow
36
+ receiveShadow
37
+ geometry={nodes.visuals_1.geometry}
38
+ material={materials.universalrobots_darkgrey}
39
+ />
40
+ <mesh
41
+ name="visuals_1_1"
42
+ castShadow
43
+ receiveShadow
44
+ geometry={nodes.visuals_1_1.geometry}
45
+ material={materials.universalrobots_black}
46
+ />
47
+ <mesh
48
+ name="visuals_1_2"
49
+ castShadow
50
+ receiveShadow
51
+ geometry={nodes.visuals_1_2.geometry}
52
+ material={materials.universalrobots_aluminum}
53
+ />
54
+ <mesh
55
+ name="visuals_1_3"
56
+ castShadow
57
+ receiveShadow
58
+ geometry={nodes.visuals_1_3.geometry}
59
+ material={materials.universalrobots_lightblue}
60
+ />
61
+ </animated.group>
62
+ <animated.group
63
+ name="UNIVERSALROBOTS_UR5CB3_J01"
64
+ position={[0, 0.089, 0]}
65
+ rotation={[Math.PI / 2, 0, 0]}
66
+ >
32
67
  <animated.group
33
- name="UR5_J02"
34
- position={[0, 0.089, 0]}
35
- rotation={[Math.PI / 2, 0, 0]}
68
+ name="link_2"
69
+ position={[0, 0, 0.089]}
70
+ rotation={[-Math.PI / 2, 0, 0]}
36
71
  >
37
- <animated.group name="UR5_J03" position={[-0.425, 0, 0]}>
38
- <animated.group name="UR5_J04" position={[-0.392, 0, 0]}>
72
+ <mesh
73
+ name="visuals_2"
74
+ castShadow
75
+ receiveShadow
76
+ geometry={nodes.visuals_2.geometry}
77
+ material={materials.universalrobots_stainlesssteel}
78
+ />
79
+ <mesh
80
+ name="visuals_2_1"
81
+ castShadow
82
+ receiveShadow
83
+ geometry={nodes.visuals_2_1.geometry}
84
+ material={materials.universalrobots_lightblue}
85
+ />
86
+ <mesh
87
+ name="visuals_2_2"
88
+ castShadow
89
+ receiveShadow
90
+ geometry={nodes.visuals_2_2.geometry}
91
+ material={materials.universalrobots_aluminum}
92
+ />
93
+ <mesh
94
+ name="visuals_2_3"
95
+ castShadow
96
+ receiveShadow
97
+ geometry={nodes.visuals_2_3.geometry}
98
+ material={materials.universalrobots_black}
99
+ />
100
+ <mesh
101
+ name="visuals_2_4"
102
+ castShadow
103
+ receiveShadow
104
+ geometry={nodes.visuals_2_4.geometry}
105
+ material={materials.universalrobots_darkgrey}
106
+ />
107
+ </animated.group>
108
+ <animated.group
109
+ name="UNIVERSALROBOTS_UR5CB3_J02"
110
+ position={[-0.425, 0, 0]}
111
+ >
112
+ <animated.group
113
+ name="link_3"
114
+ position={[0.425, 0, 0.089]}
115
+ rotation={[-Math.PI / 2, 0, 0]}
116
+ >
117
+ <mesh
118
+ name="visuals_3"
119
+ castShadow
120
+ receiveShadow
121
+ geometry={nodes.visuals_3.geometry}
122
+ material={materials.universalrobots_lightblue}
123
+ />
124
+ <mesh
125
+ name="visuals_3_1"
126
+ castShadow
127
+ receiveShadow
128
+ geometry={nodes.visuals_3_1.geometry}
129
+ material={materials.universalrobots_black}
130
+ />
131
+ <mesh
132
+ name="visuals_3_2"
133
+ castShadow
134
+ receiveShadow
135
+ geometry={nodes.visuals_3_2.geometry}
136
+ material={materials.universalrobots_aluminum}
137
+ />
138
+ <mesh
139
+ name="visuals_3_3"
140
+ castShadow
141
+ receiveShadow
142
+ geometry={nodes.visuals_3_3.geometry}
143
+ material={materials.universalrobots_darkgrey}
144
+ />
145
+ <mesh
146
+ name="visuals_3_4"
147
+ castShadow
148
+ receiveShadow
149
+ geometry={nodes.visuals_3_4.geometry}
150
+ material={materials.universalrobots_stainlesssteel}
151
+ />
152
+ </animated.group>
153
+ <animated.group
154
+ name="UNIVERSALROBOTS_UR5CB3_J03"
155
+ position={[-0.392, 0, 0]}
156
+ >
157
+ <animated.group
158
+ name="link_4"
159
+ position={[0.817, 0, 0.089]}
160
+ rotation={[-Math.PI / 2, 0, 0]}
161
+ >
162
+ <mesh
163
+ name="visuals_4"
164
+ castShadow
165
+ receiveShadow
166
+ geometry={nodes.visuals_4.geometry}
167
+ material={materials.universalrobots_darkgrey}
168
+ />
169
+ <mesh
170
+ name="visuals_4_1"
171
+ castShadow
172
+ receiveShadow
173
+ geometry={nodes.visuals_4_1.geometry}
174
+ material={materials.universalrobots_aluminum}
175
+ />
176
+ <mesh
177
+ name="visuals_4_2"
178
+ castShadow
179
+ receiveShadow
180
+ geometry={nodes.visuals_4_2.geometry}
181
+ material={materials.universalrobots_lightblue}
182
+ />
183
+ <mesh
184
+ name="visuals_4_3"
185
+ castShadow
186
+ receiveShadow
187
+ geometry={nodes.visuals_4_3.geometry}
188
+ material={materials.universalrobots_black}
189
+ />
190
+ </animated.group>
191
+ <animated.group
192
+ name="UNIVERSALROBOTS_UR5CB3_J04"
193
+ position={[0, 0.109, 0]}
194
+ rotation={[Math.PI / 2, 0, 0]}
195
+ >
39
196
  <animated.group
40
- name="UR5_J05"
41
- position={[0, 0.109, 0]}
42
- rotation={[Math.PI / 2, 0, 0]}
197
+ name="link_5"
198
+ position={[0.817, 0.089, 0.109]}
199
+ rotation={[Math.PI, 0, 0]}
43
200
  >
44
- <animated.group
45
- name="UR5_J06"
46
- position={[0, 0.095, 0]}
47
- rotation={[-Math.PI / 2, 0, 0]}
48
- >
49
- <group name="UR5_FLG" position={[0, 0.082, 0]} />
50
- <mesh
51
- name="UR5_L06"
52
- castShadow
53
- receiveShadow
54
- geometry={nodes.UR5_L06.geometry}
55
- material={nodes.UR5_L06.material}
56
- />
57
- </animated.group>
58
201
  <mesh
59
- name="UR5_L05"
202
+ name="visuals_5"
60
203
  castShadow
61
204
  receiveShadow
62
- geometry={nodes.UR5_L05.geometry}
63
- material={nodes.UR5_L05.material}
205
+ geometry={nodes.visuals_5.geometry}
206
+ material={materials.universalrobots_darkgrey}
207
+ />
208
+ <mesh
209
+ name="visuals_5_1"
210
+ castShadow
211
+ receiveShadow
212
+ geometry={nodes.visuals_5_1.geometry}
213
+ material={materials.universalrobots_lightblue}
214
+ />
215
+ <mesh
216
+ name="visuals_5_2"
217
+ castShadow
218
+ receiveShadow
219
+ geometry={nodes.visuals_5_2.geometry}
220
+ material={materials.universalrobots_aluminum}
221
+ />
222
+ <mesh
223
+ name="visuals_5_3"
224
+ castShadow
225
+ receiveShadow
226
+ geometry={nodes.visuals_5_3.geometry}
227
+ material={materials.universalrobots_black}
228
+ />
229
+ </animated.group>
230
+ <animated.group
231
+ name="UNIVERSALROBOTS_UR5CB3_J05"
232
+ position={[0, 0.095, 0]}
233
+ rotation={[-Math.PI / 2, 0, 0]}
234
+ >
235
+ <mesh
236
+ name="link_6"
237
+ castShadow
238
+ receiveShadow
239
+ geometry={nodes.link_6.geometry}
240
+ material={materials.universalrobots_stainlesssteel}
241
+ position={[0.817, -0.109, -0.005]}
242
+ rotation={[-Math.PI / 2, 0, 0]}
243
+ />
244
+ <animated.group
245
+ name="UNIVERSALROBOTS_UR5CB3_FLG"
246
+ position={[0, 0.082, 0]}
64
247
  />
65
248
  </animated.group>
66
- <mesh
67
- name="UR5_L04"
68
- castShadow
69
- receiveShadow
70
- geometry={nodes.UR5_L04.geometry}
71
- material={nodes.UR5_L04.material}
72
- />
73
249
  </animated.group>
74
- <mesh
75
- name="UR5_L03"
76
- castShadow
77
- receiveShadow
78
- geometry={nodes.UR5_L03.geometry}
79
- material={nodes.UR5_L03.material}
80
- />
81
250
  </animated.group>
82
- <mesh
83
- name="UR5_L02"
84
- castShadow
85
- receiveShadow
86
- geometry={nodes.UR5_L02.geometry}
87
- material={nodes.UR5_L02.material}
88
- />
89
251
  </animated.group>
90
- <mesh
91
- name="UR5_L01"
92
- castShadow
93
- receiveShadow
94
- geometry={nodes.UR5_L01.geometry}
95
- material={nodes.UR5_L01.material}
96
- />
97
252
  </animated.group>
98
- <mesh
99
- name="UR5_L00"
100
- castShadow
101
- receiveShadow
102
- geometry={nodes.UR5_L00.geometry}
103
- material={nodes.UR5_L00.material}
104
- rotation={[-Math.PI / 2, 0, 0]}
105
- />
106
- </group>
253
+ </animated.group>
254
+ <mesh
255
+ name="link_0"
256
+ castShadow
257
+ receiveShadow
258
+ geometry={nodes.link_0.geometry}
259
+ material={materials.universalrobots_aluminum}
260
+ />
107
261
  </group>
108
262
  </group>
109
263
  </>