@wandelbots/wandelbots-js-react-components 1.13.5 → 1.15.0

package/dist/index.cjs

@@ -1,4 +1,4 @@
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@@ -14,35 +14,35 @@
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o=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{silent:!1};for(const a in n)(typeof n[a]=="string"||Array.isArray(n[a]))&&this.addResource(t,r,a,n[a],{silent:!0});o.silent||this.emit("added",t,r,n)}addResourceBundle(t,r,n,o,a){let i=arguments.length>5&&arguments[5]!==void 0?arguments[5]:{silent:!1,skipCopy:!1},l=[t,r];t.indexOf(".")>-1&&(l=t.split("."),o=n,n=r,r=l[1]),this.addNamespaces(r);let c=Ln(this.data,l)||{};i.skipCopy||(n=JSON.parse(JSON.stringify(n))),o?Ri(c,n,a):c={...c,...n},Ka(this.data,l,c),i.silent||this.emit("added",t,r,n)}removeResourceBundle(t,r){this.hasResourceBundle(t,r)&&delete this.data[t][r],this.removeNamespaces(r),this.emit("removed",t,r)}hasResourceBundle(t,r){return this.getResource(t,r)!==void 0}getResourceBundle(t,r){return r||(r=this.options.defaultNS),this.options.compatibilityAPI==="v1"?{...this.getResource(t,r)}:this.getResource(t,r)}getDataByLanguage(t){return this.data[t]}hasLanguageSomeTranslations(t){const r=this.getDataByLanguage(t);return!!(r&&Object.keys(r)||[]).find(o=>r[o]&&Object.keys(r[o]).length>0)}toJSON(){return this.data}}var Ci={processors:{},addPostProcessor(e){this.processors[e.name]=e},handle(e,t,r,n,o){return e.forEach(a=>{this.processors[a]&&(t=this.processors[a].process(t,r,n,o))}),t}};const qa={};class Nn extends Kn{constructor(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};super(),Lc(["resourceStore","languageUtils","pluralResolver","interpolator","backendConnector","i18nFormat","utils"],t,this),this.options=r,this.options.keySeparator===void 0&&(this.options.keySeparator="."),this.logger=ht.create("translator")}changeLanguage(t){t&&(this.language=t)}exists(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{interpolation:{}};if(t==null)return!1;const n=this.resolve(t,r);return n&&n.res!==void 0}extractFromKey(t,r){let n=r.nsSeparator!==void 0?r.nsSeparator:this.options.nsSeparator;n===void 0&&(n=":");const o=r.keySeparator!==void 0?r.keySeparator:this.options.keySeparator;let a=r.ns||this.options.defaultNS||[];const i=n&&t.indexOf(n)>-1,l=!this.options.userDefinedKeySeparator&&!r.keySeparator&&!this.options.userDefinedNsSeparator&&!r.nsSeparator&&!Gc(t,n,o);if(i&&!l){const c=t.match(this.interpolator.nestingRegexp);if(c&&c.length>0)return{key:t,namespaces:a};const u=t.split(n);(n!==o||n===o&&this.options.ns.indexOf(u[0])>-1)&&(a=u.shift()),t=u.join(o)}return typeof a=="string"&&(a=[a]),{key:t,namespaces:a}}translate(t,r,n){if(typeof r!="object"&&this.options.overloadTranslationOptionHandler&&(r=this.options.overloadTranslationOptionHandler(arguments)),typeof r=="object"&&(r={...r}),r||(r={}),t==null)return"";Array.isArray(t)||(t=[String(t)]);const o=r.returnDetails!==void 0?r.returnDetails:this.options.returnDetails,a=r.keySeparator!==void 0?r.keySeparator:this.options.keySeparator,{key:i,namespaces:l}=this.extractFromKey(t[t.length-1],r),c=l[l.length-1],u=r.lng||this.language,d=r.appendNamespaceToCIMode||this.options.appendNamespaceToCIMode;if(u&&u.toLowerCase()==="cimode"){if(d){const L=r.nsSeparator||this.options.nsSeparator;return o?{res:`${c}${L}${i}`,usedKey:i,exactUsedKey:i,usedLng:u,usedNS:c,usedParams:this.getUsedParamsDetails(r)}:`${c}${L}${i}`}return o?{res:i,usedKey:i,exactUsedKey:i,usedLng:u,usedNS:c,usedParams:this.getUsedParamsDetails(r)}:i}const m=this.resolve(t,r);let f=m&&m.res;const b=m&&m.usedKey||i,y=m&&m.exactUsedKey||i,_=Object.prototype.toString.apply(f),g=["[object Number]","[object Function]","[object RegExp]"],x=r.joinArrays!==void 0?r.joinArrays:this.options.joinArrays,j=!this.i18nFormat||this.i18nFormat.handleAsObject;if(j&&f&&(typeof f!="string"&&typeof f!="boolean"&&typeof f!="number")&&g.indexOf(_)<0&&!(typeof x=="string"&&Array.isArray(f))){if(!r.returnObjects&&!this.options.returnObjects){this.options.returnedObjectHandler||this.logger.warn("accessing an object - but returnObjects options is not enabled!");const L=this.options.returnedObjectHandler?this.options.returnedObjectHandler(b,f,{...r,ns:l}):`key '${i} (${this.language})' returned an object instead of string.`;return o?(m.res=L,m.usedParams=this.getUsedParamsDetails(r),m):L}if(a){const L=Array.isArray(f),R=L?[]:{},P=L?y:b;for(const O in f)if(Object.prototype.hasOwnProperty.call(f,O)){const z=`${P}${a}${O}`;R[O]=this.translate(z,{...r,joinArrays:!1,ns:l}),R[O]===z&&(R[O]=f[O])}f=R}}else if(j&&typeof x=="string"&&Array.isArray(f))f=f.join(x),f&&(f=this.extendTranslation(f,t,r,n));else{let L=!1,R=!1;const P=r.count!==void 0&&typeof r.count!="string",O=Nn.hasDefaultValue(r),z=P?this.pluralResolver.getSuffix(u,r.count,r):"",le=r.ordinal&&P?this.pluralResolver.getSuffix(u,r.count,{ordinal:!1}):"",ue=P&&!r.ordinal&&r.count===0&&this.pluralResolver.shouldUseIntlApi(),D=ue&&r[`defaultValue${this.options.pluralSeparator}zero`]||r[`defaultValue${z}`]||r[`defaultValue${le}`]||r.defaultValue;!this.isValidLookup(f)&&O&&(L=!0,f=D),this.isValidLookup(f)||(R=!0,f=i);const G=(r.missingKeyNoValueFallbackToKey||this.options.missingKeyNoValueFallbackToKey)&&R?void 0:f,Y=O&&D!==f&&this.options.updateMissing;if(R||L||Y){if(this.logger.log(Y?"updateKey":"missingKey",u,c,i,Y?D:f),a){const Q=this.resolve(i,{...r,keySeparator:!1});Q&&Q.res&&this.logger.warn("Seems the loaded translations were in flat JSON format instead of nested. Either set keySeparator: false on init or make sure your translations are published in nested format.")}let K=[];const we=this.languageUtils.getFallbackCodes(this.options.fallbackLng,r.lng||this.language);if(this.options.saveMissingTo==="fallback"&&we&&we[0])for(let Q=0;Q<we.length;Q++)K.push(we[Q]);else this.options.saveMissingTo==="all"?K=this.languageUtils.toResolveHierarchy(r.lng||this.language):K.push(r.lng||this.language);const ce=(Q,Ae,Ee)=>{const ot=O&&Ee!==f?Ee:G;this.options.missingKeyHandler?this.options.missingKeyHandler(Q,c,Ae,ot,Y,r):this.backendConnector&&this.backendConnector.saveMissing&&this.backendConnector.saveMissing(Q,c,Ae,ot,Y,r),this.emit("missingKey",Q,c,Ae,f)};this.options.saveMissing&&(this.options.saveMissingPlurals&&P?K.forEach(Q=>{const Ae=this.pluralResolver.getSuffixes(Q,r);ue&&r[`defaultValue${this.options.pluralSeparator}zero`]&&Ae.indexOf(`${this.options.pluralSeparator}zero`)<0&&Ae.push(`${this.options.pluralSeparator}zero`),Ae.forEach(Ee=>{ce([Q],i+Ee,r[`defaultValue${Ee}`]||D)})}):ce(K,i,D))}f=this.extendTranslation(f,t,r,m,n),R&&f===i&&this.options.appendNamespaceToMissingKey&&(f=`${c}:${i}`),(R||L)&&this.options.parseMissingKeyHandler&&(this.options.compatibilityAPI!=="v1"?f=this.options.parseMissingKeyHandler(this.options.appendNamespaceToMissingKey?`${c}:${i}`:i,L?f:void 0):f=this.options.parseMissingKeyHandler(f))}return o?(m.res=f,m.usedParams=this.getUsedParamsDetails(r),m):f}extendTranslation(t,r,n,o,a){var i=this;if(this.i18nFormat&&this.i18nFormat.parse)t=this.i18nFormat.parse(t,{...this.options.interpolation.defaultVariables,...n},n.lng||this.language||o.usedLng,o.usedNS,o.usedKey,{resolved:o});else if(!n.skipInterpolation){n.interpolation&&this.interpolator.init({...n,interpolation:{...this.options.interpolation,...n.interpolation}});const u=typeof t=="string"&&(n&&n.interpolation&&n.interpolation.skipOnVariables!==void 0?n.interpolation.skipOnVariables:this.options.interpolation.skipOnVariables);let d;if(u){const f=t.match(this.interpolator.nestingRegexp);d=f&&f.length}let m=n.replace&&typeof n.replace!="string"?n.replace:n;if(this.options.interpolation.defaultVariables&&(m={...this.options.interpolation.defaultVariables,...m}),t=this.interpolator.interpolate(t,m,n.lng||this.language||o.usedLng,n),u){const f=t.match(this.interpolator.nestingRegexp),b=f&&f.length;d<b&&(n.nest=!1)}!n.lng&&this.options.compatibilityAPI!=="v1"&&o&&o.res&&(n.lng=this.language||o.usedLng),n.nest!==!1&&(t=this.interpolator.nest(t,function(){for(var f=arguments.length,b=new Array(f),y=0;y<f;y++)b[y]=arguments[y];return a&&a[0]===b[0]&&!n.context?(i.logger.warn(`It seems you are nesting recursively key: ${b[0]} in key: ${r[0]}`),null):i.translate(...b,r)},n)),n.interpolation&&this.interpolator.reset()}const l=n.postProcess||this.options.postProcess,c=typeof l=="string"?[l]:l;return t!=null&&c&&c.length&&n.applyPostProcessor!==!1&&(t=Ci.handle(c,t,r,this.options&&this.options.postProcessPassResolved?{i18nResolved:{...o,usedParams:this.getUsedParamsDetails(n)},...n}:n,this)),t}resolve(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{},n,o,a,i,l;return typeof t=="string"&&(t=[t]),t.forEach(c=>{if(this.isValidLookup(n))return;const u=this.extractFromKey(c,r),d=u.key;o=d;let m=u.namespaces;this.options.fallbackNS&&(m=m.concat(this.options.fallbackNS));const f=r.count!==void 0&&typeof r.count!="string",b=f&&!r.ordinal&&r.count===0&&this.pluralResolver.shouldUseIntlApi(),y=r.context!==void 0&&(typeof r.context=="string"||typeof r.context=="number")&&r.context!=="",_=r.lngs?r.lngs:this.languageUtils.toResolveHierarchy(r.lng||this.language,r.fallbackLng);m.forEach(g=>{this.isValidLookup(n)||(l=g,!qa[`${_[0]}-${g}`]&&this.utils&&this.utils.hasLoadedNamespace&&!this.utils.hasLoadedNamespace(l)&&(qa[`${_[0]}-${g}`]=!0,this.logger.warn(`key "${o}" for languages "${_.join(", ")}" won't get resolved as namespace "${l}" was not yet loaded`,"This means something IS WRONG in your setup. You access the t function before i18next.init / i18next.loadNamespace / i18next.changeLanguage was done. Wait for the callback or Promise to resolve before accessing it!!!")),_.forEach(x=>{if(this.isValidLookup(n))return;i=x;const j=[d];if(this.i18nFormat&&this.i18nFormat.addLookupKeys)this.i18nFormat.addLookupKeys(j,d,x,g,r);else{let L;f&&(L=this.pluralResolver.getSuffix(x,r.count,r));const R=`${this.options.pluralSeparator}zero`,P=`${this.options.pluralSeparator}ordinal${this.options.pluralSeparator}`;if(f&&(j.push(d+L),r.ordinal&&L.indexOf(P)===0&&j.push(d+L.replace(P,this.options.pluralSeparator)),b&&j.push(d+R)),y){const O=`${d}${this.options.contextSeparator}${r.context}`;j.push(O),f&&(j.push(O+L),r.ordinal&&L.indexOf(P)===0&&j.push(O+L.replace(P,this.options.pluralSeparator)),b&&j.push(O+R))}}let C;for(;C=j.pop();)this.isValidLookup(n)||(a=C,n=this.getResource(x,g,C,r))}))})}),{res:n,usedKey:o,exactUsedKey:a,usedLng:i,usedNS:l}}isValidLookup(t){return t!==void 0&&!(!this.options.returnNull&&t===null)&&!(!this.options.returnEmptyString&&t==="")}getResource(t,r,n){let o=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};return this.i18nFormat&&this.i18nFormat.getResource?this.i18nFormat.getResource(t,r,n,o):this.resourceStore.getResource(t,r,n,o)}getUsedParamsDetails(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};const r=["defaultValue","ordinal","context","replace","lng","lngs","fallbackLng","ns","keySeparator","nsSeparator","returnObjects","returnDetails","joinArrays","postProcess","interpolation"],n=t.replace&&typeof t.replace!="string";let o=n?t.replace:t;if(n&&typeof t.count<"u"&&(o.count=t.count),this.options.interpolation.defaultVariables&&(o={...this.options.interpolation.defaultVariables,...o}),!n){o={...o};for(const a of r)delete o[a]}return o}static hasDefaultValue(t){const r="defaultValue";for(const n in t)if(Object.prototype.hasOwnProperty.call(t,n)&&r===n.substring(0,r.length)&&t[n]!==void 0)return!0;return!1}}const Ao=e=>e.charAt(0).toUpperCase()+e.slice(1);class Ya{constructor(t){this.options=t,this.supportedLngs=this.options.supportedLngs||!1,this.logger=ht.create("languageUtils")}getScriptPartFromCode(t){if(t=$n(t),!t||t.indexOf("-")<0)return null;const r=t.split("-");return r.length===2||(r.pop(),r[r.length-1].toLowerCase()==="x")?null:this.formatLanguageCode(r.join("-"))}getLanguagePartFromCode(t){if(t=$n(t),!t||t.indexOf("-")<0)return t;const r=t.split("-");return this.formatLanguageCode(r[0])}formatLanguageCode(t){if(typeof t=="string"&&t.indexOf("-")>-1){const r=["hans","hant","latn","cyrl","cans","mong","arab"];let n=t.split("-");return this.options.lowerCaseLng?n=n.map(o=>o.toLowerCase()):n.length===2?(n[0]=n[0].toLowerCase(),n[1]=n[1].toUpperCase(),r.indexOf(n[1].toLowerCase())>-1&&(n[1]=Ao(n[1].toLowerCase()))):n.length===3&&(n[0]=n[0].toLowerCase(),n[1].length===2&&(n[1]=n[1].toUpperCase()),n[0]!=="sgn"&&n[2].length===2&&(n[2]=n[2].toUpperCase()),r.indexOf(n[1].toLowerCase())>-1&&(n[1]=Ao(n[1].toLowerCase())),r.indexOf(n[2].toLowerCase())>-1&&(n[2]=Ao(n[2].toLowerCase()))),n.join("-")}return this.options.cleanCode||this.options.lowerCaseLng?t.toLowerCase():t}isSupportedCode(t){return(this.options.load==="languageOnly"||this.options.nonExplicitSupportedLngs)&&(t=this.getLanguagePartFromCode(t)),!this.supportedLngs||!this.supportedLngs.length||this.supportedLngs.indexOf(t)>-1}getBestMatchFromCodes(t){if(!t)return null;let r;return t.forEach(n=>{if(r)return;const o=this.formatLanguageCode(n);(!this.options.supportedLngs||this.isSupportedCode(o))&&(r=o)}),!r&&this.options.supportedLngs&&t.forEach(n=>{if(r)return;const o=this.getLanguagePartFromCode(n);if(this.isSupportedCode(o))return r=o;r=this.options.supportedLngs.find(a=>{if(a===o)return a;if(!(a.indexOf("-")<0&&o.indexOf("-")<0)&&(a.indexOf("-")>0&&o.indexOf("-")<0&&a.substring(0,a.indexOf("-"))===o||a.indexOf(o)===0&&o.length>1))return a})}),r||(r=this.getFallbackCodes(this.options.fallbackLng)[0]),r}getFallbackCodes(t,r){if(!t)return[];if(typeof t=="function"&&(t=t(r)),typeof t=="string"&&(t=[t]),Array.isArray(t))return t;if(!r)return t.default||[];let n=t[r];return n||(n=t[this.getScriptPartFromCode(r)]),n||(n=t[this.formatLanguageCode(r)]),n||(n=t[this.getLanguagePartFromCode(r)]),n||(n=t.default),n||[]}toResolveHierarchy(t,r){const n=this.getFallbackCodes(r||this.options.fallbackLng||[],t),o=[],a=i=>{i&&(this.isSupportedCode(i)?o.push(i):this.logger.warn(`rejecting language code not found in supportedLngs: ${i}`))};return typeof t=="string"&&(t.indexOf("-")>-1||t.indexOf("_")>-1)?(this.options.load!=="languageOnly"&&a(this.formatLanguageCode(t)),this.options.load!=="languageOnly"&&this.options.load!=="currentOnly"&&a(this.getScriptPartFromCode(t)),this.options.load!=="currentOnly"&&a(this.getLanguagePartFromCode(t))):typeof t=="string"&&a(this.formatLanguageCode(t)),n.forEach(i=>{o.indexOf(i)<0&&a(this.formatLanguageCode(i))}),o}}let zc=[{lngs:["ach","ak","am","arn","br","fil","gun","ln","mfe","mg","mi","oc","pt","pt-BR","tg","tl","ti","tr","uz","wa"],nr:[1,2],fc:1},{lngs:["af","an","ast","az","bg","bn","ca","da","de","dev","el","en","eo","es","et","eu","fi","fo","fur","fy","gl","gu","ha","hi","hu","hy","ia","it","kk","kn","ku","lb","mai","ml","mn","mr","nah","nap","nb","ne","nl","nn","no","nso","pa","pap","pms","ps","pt-PT","rm","sco","se","si","so","son","sq","sv","sw","ta","te","tk","ur","yo"],nr:[1,2],fc:2},{lngs:["ay","bo","cgg","fa","ht","id","ja","jbo","ka","km","ko","ky","lo","ms","sah","su","th","tt","ug","vi","wo","zh"],nr:[1],fc:3},{lngs:["be","bs","cnr","dz","hr","ru","sr","uk"],nr:[1,2,5],fc:4},{lngs:["ar"],nr:[0,1,2,3,11,100],fc:5},{lngs:["cs","sk"],nr:[1,2,5],fc:6},{lngs:["csb","pl"],nr:[1,2,5],fc:7},{lngs:["cy"],nr:[1,2,3,8],fc:8},{lngs:["fr"],nr:[1,2],fc:9},{lngs:["ga"],nr:[1,2,3,7,11],fc:10},{lngs:["gd"],nr:[1,2,3,20],fc:11},{lngs:["is"],nr:[1,2],fc:12},{lngs:["jv"],nr:[0,1],fc:13},{lngs:["kw"],nr:[1,2,3,4],fc:14},{lngs:["lt"],nr:[1,2,10],fc:15},{lngs:["lv"],nr:[1,2,0],fc:16},{lngs:["mk"],nr:[1,2],fc:17},{lngs:["mnk"],nr:[0,1,2],fc:18},{lngs:["mt"],nr:[1,2,11,20],fc:19},{lngs:["or"],nr:[2,1],fc:2},{lngs:["ro"],nr:[1,2,20],fc:20},{lngs:["sl"],nr:[5,1,2,3],fc:21},{lngs:["he","iw"],nr:[1,2,20,21],fc:22}],Wc={1:e=>+(e>1),2:e=>+(e!=1),3:e=>0,4:e=>e%10==1&&e%100!=11?0:e%10>=2&&e%10<=4&&(e%100<10||e%100>=20)?1:2,5:e=>e==0?0:e==1?1:e==2?2:e%100>=3&&e%100<=10?3:e%100>=11?4:5,6:e=>e==1?0:e>=2&&e<=4?1:2,7:e=>e==1?0:e%10>=2&&e%10<=4&&(e%100<10||e%100>=20)?1:2,8:e=>e==1?0:e==2?1:e!=8&&e!=11?2:3,9:e=>+(e>=2),10:e=>e==1?0:e==2?1:e<7?2:e<11?3:4,11:e=>e==1||e==11?0:e==2||e==12?1:e>2&&e<20?2:3,12:e=>+(e%10!=1||e%100==11),13:e=>+(e!==0),14:e=>e==1?0:e==2?1:e==3?2:3,15:e=>e%10==1&&e%100!=11?0:e%10>=2&&(e%100<10||e%100>=20)?1:2,16:e=>e%10==1&&e%100!=11?0:e!==0?1:2,17:e=>e==1||e%10==1&&e%100!=11?0:1,18:e=>e==0?0:e==1?1:2,19:e=>e==1?0:e==0||e%100>1&&e%100<11?1:e%100>10&&e%100<20?2:3,20:e=>e==1?0:e==0||e%100>0&&e%100<20?1:2,21:e=>e%100==1?1:e%100==2?2:e%100==3||e%100==4?3:0,22:e=>e==1?0:e==2?1:(e<0||e>10)&&e%10==0?2:3};const Hc=["v1","v2","v3"],Kc=["v4"],Za={zero:0,one:1,two:2,few:3,many:4,other:5},Xc=()=>{const e={};return zc.forEach(t=>{t.lngs.forEach(r=>{e[r]={numbers:t.nr,plurals:Wc[t.fc]}})}),e};class qc{constructor(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};this.languageUtils=t,this.options=r,this.logger=ht.create("pluralResolver"),(!this.options.compatibilityJSON||Kc.includes(this.options.compatibilityJSON))&&(typeof Intl>"u"||!Intl.PluralRules)&&(this.options.compatibilityJSON="v3",this.logger.error("Your environment seems not to be Intl API compatible, use an Intl.PluralRules polyfill. 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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(v.animated.group,{name:"M20iD25_J00",children:[s.jsxs(v.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(v.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[s.jsxs(v.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(v.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(v.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,m)=>d.rotation.y=u[m]+i[m])}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(v.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(v.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[s.jsxs(v.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[s.jsxs(v.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(v.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(v.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",vs="mesh";function Eo({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new xt.Matrix4;function o(c,u){const d=new xt.Vector3,m=new xt.Quaternion,f=new xt.Vector3;n.decompose(d,m,f);const b=d.clone(),y=new xt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new xt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new xt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new xt.Matrix4().makeRotationX(c.alpha));return n.multiply(y),n.decompose(d,m,f),{a:b,b:d}}function a(c,u,d,m){if(!t)return;const f=t[c];if(!f)return;const{a:b,b:y}=o(f,m);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,m)=>{a(m,d.getObjectByName(bs),d.getObjectByName(vs),u[m])})}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:m}=o(c,e.state.joint_position.joints[u]??0);return s.jsxs("group",{name:`group_${u}`,children:[s.jsx(ie.Line,{name:bs,points:[d,m],color:"white",lineWidth:5}),s.jsxs("mesh",{name:vs,position:m,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},"group_"+u)})]})]})}const of=console.warn;function af(){return q.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&of(e)}},[]),s.jsx(s.Fragment,{})}function va(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const ol=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=va,isGhost:o=!1,...a})=>{let i;const l=q.useRef(new Ce.Group),c=q.useCallback(m=>{m!==null&&(l.current=m,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(m=>{if(m instanceof Ce.Mesh&&!m.userData.isGhost){m.material instanceof Ce.Material&&(m.material.colorWrite=!1);const f=m.clone(),b=m.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,m.parent&&(m.parent.add(f),m.parent.add(b))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const m=[];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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r=this.options.ns.indexOf(t);r>-1&&this.options.ns.splice(r,1)}getResource(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};const o=a.keySeparator!==void 0?a.keySeparator:this.options.keySeparator,i=a.ignoreJSONStructure!==void 0?a.ignoreJSONStructure:this.options.ignoreJSONStructure;let l;t.indexOf(".")>-1?l=t.split("."):(l=[t,r],n&&(Array.isArray(n)?l.push(...n):typeof n=="string"&&o?l.push(...n.split(o)):l.push(n)));const c=Ln(this.data,l);return!c&&!r&&!n&&t.indexOf(".")>-1&&(t=l[0],r=l[1],n=l.slice(2).join(".")),c||!i||typeof n!="string"?c:za(this.data&&this.data[t]&&this.data[t][r],n,o)}addResource(t,r,n,a){let o=arguments.length>4&&arguments[4]!==void 0?arguments[4]:{silent:!1};const i=o.keySeparator!==void 0?o.keySeparator:this.options.keySeparator;let l=[t,r];n&&(l=l.concat(i?n.split(i):n)),t.indexOf(".")>-1&&(l=t.split("."),a=r,r=l[1]),this.addNamespaces(r),qo(this.data,l,a),o.silent||this.emit("added",t,r,n,a)}addResources(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{silent:!1};for(const o in n)(typeof n[o]=="string"||Array.isArray(n[o]))&&this.addResource(t,r,o,n[o],{silent:!0});a.silent||this.emit("added",t,r,n)}addResourceBundle(t,r,n,a,o){let i=arguments.length>5&&arguments[5]!==void 0?arguments[5]:{silent:!1,skipCopy:!1},l=[t,r];t.indexOf(".")>-1&&(l=t.split("."),a=n,n=r,r=l[1]),this.addNamespaces(r);let c=Ln(this.data,l)||{};i.skipCopy||(n=JSON.parse(JSON.stringify(n))),a?Ai(c,n,o):c={...c,...n},qo(this.data,l,c),i.silent||this.emit("added",t,r,n)}removeResourceBundle(t,r){this.hasResourceBundle(t,r)&&delete this.data[t][r],this.removeNamespaces(r),this.emit("removed",t,r)}hasResourceBundle(t,r){return this.getResource(t,r)!==void 0}getResourceBundle(t,r){return r||(r=this.options.defaultNS),this.options.compatibilityAPI==="v1"?{...this.getResource(t,r)}:this.getResource(t,r)}getDataByLanguage(t){return this.data[t]}hasLanguageSomeTranslations(t){const r=this.getDataByLanguage(t);return!!(r&&Object.keys(r)||[]).find(a=>r[a]&&Object.keys(r[a]).length>0)}toJSON(){return this.data}}var Pi={processors:{},addPostProcessor(e){this.processors[e.name]=e},handle(e,t,r,n,a){return e.forEach(o=>{this.processors[o]&&(t=this.processors[o].process(t,r,n,a))}),t}};const Zo={};class Nn extends Hn{constructor(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};super(),Lc(["resourceStore","languageUtils","pluralResolver","interpolator","backendConnector","i18nFormat","utils"],t,this),this.options=r,this.options.keySeparator===void 0&&(this.options.keySeparator="."),this.logger=ht.create("translator")}changeLanguage(t){t&&(this.language=t)}exists(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{interpolation:{}};if(t==null)return!1;const n=this.resolve(t,r);return n&&n.res!==void 0}extractFromKey(t,r){let n=r.nsSeparator!==void 0?r.nsSeparator:this.options.nsSeparator;n===void 0&&(n=":");const a=r.keySeparator!==void 0?r.keySeparator:this.options.keySeparator;let o=r.ns||this.options.defaultNS||[];const i=n&&t.indexOf(n)>-1,l=!this.options.userDefinedKeySeparator&&!r.keySeparator&&!this.options.userDefinedNsSeparator&&!r.nsSeparator&&!Gc(t,n,a);if(i&&!l){const c=t.match(this.interpolator.nestingRegexp);if(c&&c.length>0)return{key:t,namespaces:o};const u=t.split(n);(n!==a||n===a&&this.options.ns.indexOf(u[0])>-1)&&(o=u.shift()),t=u.join(a)}return typeof o=="string"&&(o=[o]),{key:t,namespaces:o}}translate(t,r,n){if(typeof r!="object"&&this.options.overloadTranslationOptionHandler&&(r=this.options.overloadTranslationOptionHandler(arguments)),typeof r=="object"&&(r={...r}),r||(r={}),t==null)return"";Array.isArray(t)||(t=[String(t)]);const a=r.returnDetails!==void 0?r.returnDetails:this.options.returnDetails,o=r.keySeparator!==void 0?r.keySeparator:this.options.keySeparator,{key:i,namespaces:l}=this.extractFromKey(t[t.length-1],r),c=l[l.length-1],u=r.lng||this.language,d=r.appendNamespaceToCIMode||this.options.appendNamespaceToCIMode;if(u&&u.toLowerCase()==="cimode"){if(d){const L=r.nsSeparator||this.options.nsSeparator;return a?{res:`${c}${L}${i}`,usedKey:i,exactUsedKey:i,usedLng:u,usedNS:c,usedParams:this.getUsedParamsDetails(r)}:`${c}${L}${i}`}return a?{res:i,usedKey:i,exactUsedKey:i,usedLng:u,usedNS:c,usedParams:this.getUsedParamsDetails(r)}:i}const m=this.resolve(t,r);let f=m&&m.res;const v=m&&m.usedKey||i,y=m&&m.exactUsedKey||i,_=Object.prototype.toString.apply(f),g=["[object Number]","[object Function]","[object RegExp]"],x=r.joinArrays!==void 0?r.joinArrays:this.options.joinArrays,j=!this.i18nFormat||this.i18nFormat.handleAsObject;if(j&&f&&(typeof f!="string"&&typeof f!="boolean"&&typeof f!="number")&&g.indexOf(_)<0&&!(typeof x=="string"&&Array.isArray(f))){if(!r.returnObjects&&!this.options.returnObjects){this.options.returnedObjectHandler||this.logger.warn("accessing an object - but returnObjects options is not enabled!");const L=this.options.returnedObjectHandler?this.options.returnedObjectHandler(v,f,{...r,ns:l}):`key '${i} (${this.language})' returned an object instead of string.`;return a?(m.res=L,m.usedParams=this.getUsedParamsDetails(r),m):L}if(o){const L=Array.isArray(f),R=L?[]:{},P=L?y:v;for(const O in f)if(Object.prototype.hasOwnProperty.call(f,O)){const z=`${P}${o}${O}`;R[O]=this.translate(z,{...r,joinArrays:!1,ns:l}),R[O]===z&&(R[O]=f[O])}f=R}}else if(j&&typeof x=="string"&&Array.isArray(f))f=f.join(x),f&&(f=this.extendTranslation(f,t,r,n));else{let L=!1,R=!1;const P=r.count!==void 0&&typeof r.count!="string",O=Nn.hasDefaultValue(r),z=P?this.pluralResolver.getSuffix(u,r.count,r):"",le=r.ordinal&&P?this.pluralResolver.getSuffix(u,r.count,{ordinal:!1}):"",ue=P&&!r.ordinal&&r.count===0&&this.pluralResolver.shouldUseIntlApi(),D=ue&&r[`defaultValue${this.options.pluralSeparator}zero`]||r[`defaultValue${z}`]||r[`defaultValue${le}`]||r.defaultValue;!this.isValidLookup(f)&&O&&(L=!0,f=D),this.isValidLookup(f)||(R=!0,f=i);const G=(r.missingKeyNoValueFallbackToKey||this.options.missingKeyNoValueFallbackToKey)&&R?void 0:f,q=O&&D!==f&&this.options.updateMissing;if(R||L||q){if(this.logger.log(q?"updateKey":"missingKey",u,c,i,q?D:f),o){const Q=this.resolve(i,{...r,keySeparator:!1});Q&&Q.res&&this.logger.warn("Seems the loaded translations were in flat JSON format instead of nested. Either set keySeparator: false on init or make sure your translations are published in nested format.")}let H=[];const we=this.languageUtils.getFallbackCodes(this.options.fallbackLng,r.lng||this.language);if(this.options.saveMissingTo==="fallback"&&we&&we[0])for(let Q=0;Q<we.length;Q++)H.push(we[Q]);else this.options.saveMissingTo==="all"?H=this.languageUtils.toResolveHierarchy(r.lng||this.language):H.push(r.lng||this.language);const ce=(Q,Ae,Ee)=>{const at=O&&Ee!==f?Ee:G;this.options.missingKeyHandler?this.options.missingKeyHandler(Q,c,Ae,at,q,r):this.backendConnector&&this.backendConnector.saveMissing&&this.backendConnector.saveMissing(Q,c,Ae,at,q,r),this.emit("missingKey",Q,c,Ae,f)};this.options.saveMissing&&(this.options.saveMissingPlurals&&P?H.forEach(Q=>{const Ae=this.pluralResolver.getSuffixes(Q,r);ue&&r[`defaultValue${this.options.pluralSeparator}zero`]&&Ae.indexOf(`${this.options.pluralSeparator}zero`)<0&&Ae.push(`${this.options.pluralSeparator}zero`),Ae.forEach(Ee=>{ce([Q],i+Ee,r[`defaultValue${Ee}`]||D)})}):ce(H,i,D))}f=this.extendTranslation(f,t,r,m,n),R&&f===i&&this.options.appendNamespaceToMissingKey&&(f=`${c}:${i}`),(R||L)&&this.options.parseMissingKeyHandler&&(this.options.compatibilityAPI!=="v1"?f=this.options.parseMissingKeyHandler(this.options.appendNamespaceToMissingKey?`${c}:${i}`:i,L?f:void 0):f=this.options.parseMissingKeyHandler(f))}return a?(m.res=f,m.usedParams=this.getUsedParamsDetails(r),m):f}extendTranslation(t,r,n,a,o){var i=this;if(this.i18nFormat&&this.i18nFormat.parse)t=this.i18nFormat.parse(t,{...this.options.interpolation.defaultVariables,...n},n.lng||this.language||a.usedLng,a.usedNS,a.usedKey,{resolved:a});else if(!n.skipInterpolation){n.interpolation&&this.interpolator.init({...n,interpolation:{...this.options.interpolation,...n.interpolation}});const u=typeof t=="string"&&(n&&n.interpolation&&n.interpolation.skipOnVariables!==void 0?n.interpolation.skipOnVariables:this.options.interpolation.skipOnVariables);let d;if(u){const f=t.match(this.interpolator.nestingRegexp);d=f&&f.length}let m=n.replace&&typeof n.replace!="string"?n.replace:n;if(this.options.interpolation.defaultVariables&&(m={...this.options.interpolation.defaultVariables,...m}),t=this.interpolator.interpolate(t,m,n.lng||this.language||a.usedLng,n),u){const f=t.match(this.interpolator.nestingRegexp),v=f&&f.length;d<v&&(n.nest=!1)}!n.lng&&this.options.compatibilityAPI!=="v1"&&a&&a.res&&(n.lng=this.language||a.usedLng),n.nest!==!1&&(t=this.interpolator.nest(t,function(){for(var f=arguments.length,v=new Array(f),y=0;y<f;y++)v[y]=arguments[y];return o&&o[0]===v[0]&&!n.context?(i.logger.warn(`It seems you are nesting recursively key: ${v[0]} in key: ${r[0]}`),null):i.translate(...v,r)},n)),n.interpolation&&this.interpolator.reset()}const l=n.postProcess||this.options.postProcess,c=typeof l=="string"?[l]:l;return t!=null&&c&&c.length&&n.applyPostProcessor!==!1&&(t=Pi.handle(c,t,r,this.options&&this.options.postProcessPassResolved?{i18nResolved:{...a,usedParams:this.getUsedParamsDetails(n)},...n}:n,this)),t}resolve(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{},n,a,o,i,l;return typeof t=="string"&&(t=[t]),t.forEach(c=>{if(this.isValidLookup(n))return;const u=this.extractFromKey(c,r),d=u.key;a=d;let m=u.namespaces;this.options.fallbackNS&&(m=m.concat(this.options.fallbackNS));const f=r.count!==void 0&&typeof r.count!="string",v=f&&!r.ordinal&&r.count===0&&this.pluralResolver.shouldUseIntlApi(),y=r.context!==void 0&&(typeof r.context=="string"||typeof r.context=="number")&&r.context!=="",_=r.lngs?r.lngs:this.languageUtils.toResolveHierarchy(r.lng||this.language,r.fallbackLng);m.forEach(g=>{this.isValidLookup(n)||(l=g,!Zo[`${_[0]}-${g}`]&&this.utils&&this.utils.hasLoadedNamespace&&!this.utils.hasLoadedNamespace(l)&&(Zo[`${_[0]}-${g}`]=!0,this.logger.warn(`key "${a}" for languages "${_.join(", ")}" won't get resolved as namespace "${l}" was not yet loaded`,"This means something IS WRONG in your setup. You access the t function before i18next.init / i18next.loadNamespace / i18next.changeLanguage was done. Wait for the callback or Promise to resolve before accessing it!!!")),_.forEach(x=>{if(this.isValidLookup(n))return;i=x;const j=[d];if(this.i18nFormat&&this.i18nFormat.addLookupKeys)this.i18nFormat.addLookupKeys(j,d,x,g,r);else{let L;f&&(L=this.pluralResolver.getSuffix(x,r.count,r));const R=`${this.options.pluralSeparator}zero`,P=`${this.options.pluralSeparator}ordinal${this.options.pluralSeparator}`;if(f&&(j.push(d+L),r.ordinal&&L.indexOf(P)===0&&j.push(d+L.replace(P,this.options.pluralSeparator)),v&&j.push(d+R)),y){const O=`${d}${this.options.contextSeparator}${r.context}`;j.push(O),f&&(j.push(O+L),r.ordinal&&L.indexOf(P)===0&&j.push(O+L.replace(P,this.options.pluralSeparator)),v&&j.push(O+R))}}let C;for(;C=j.pop();)this.isValidLookup(n)||(o=C,n=this.getResource(x,g,C,r))}))})}),{res:n,usedKey:a,exactUsedKey:o,usedLng:i,usedNS:l}}isValidLookup(t){return t!==void 0&&!(!this.options.returnNull&&t===null)&&!(!this.options.returnEmptyString&&t==="")}getResource(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};return this.i18nFormat&&this.i18nFormat.getResource?this.i18nFormat.getResource(t,r,n,a):this.resourceStore.getResource(t,r,n,a)}getUsedParamsDetails(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};const r=["defaultValue","ordinal","context","replace","lng","lngs","fallbackLng","ns","keySeparator","nsSeparator","returnObjects","returnDetails","joinArrays","postProcess","interpolation"],n=t.replace&&typeof t.replace!="string";let a=n?t.replace:t;if(n&&typeof t.count<"u"&&(a.count=t.count),this.options.interpolation.defaultVariables&&(a={...this.options.interpolation.defaultVariables,...a}),!n){a={...a};for(const o of r)delete a[o]}return a}static hasDefaultValue(t){const r="defaultValue";for(const n in t)if(Object.prototype.hasOwnProperty.call(t,n)&&r===n.substring(0,r.length)&&t[n]!==void 0)return!0;return!1}}const Ca=e=>e.charAt(0).toUpperCase()+e.slice(1);class Qo{constructor(t){this.options=t,this.supportedLngs=this.options.supportedLngs||!1,this.logger=ht.create("languageUtils")}getScriptPartFromCode(t){if(t=$n(t),!t||t.indexOf("-")<0)return null;const r=t.split("-");return r.length===2||(r.pop(),r[r.length-1].toLowerCase()==="x")?null:this.formatLanguageCode(r.join("-"))}getLanguagePartFromCode(t){if(t=$n(t),!t||t.indexOf("-")<0)return t;const r=t.split("-");return this.formatLanguageCode(r[0])}formatLanguageCode(t){if(typeof t=="string"&&t.indexOf("-")>-1){const r=["hans","hant","latn","cyrl","cans","mong","arab"];let n=t.split("-");return this.options.lowerCaseLng?n=n.map(a=>a.toLowerCase()):n.length===2?(n[0]=n[0].toLowerCase(),n[1]=n[1].toUpperCase(),r.indexOf(n[1].toLowerCase())>-1&&(n[1]=Ca(n[1].toLowerCase()))):n.length===3&&(n[0]=n[0].toLowerCase(),n[1].length===2&&(n[1]=n[1].toUpperCase()),n[0]!=="sgn"&&n[2].length===2&&(n[2]=n[2].toUpperCase()),r.indexOf(n[1].toLowerCase())>-1&&(n[1]=Ca(n[1].toLowerCase())),r.indexOf(n[2].toLowerCase())>-1&&(n[2]=Ca(n[2].toLowerCase()))),n.join("-")}return this.options.cleanCode||this.options.lowerCaseLng?t.toLowerCase():t}isSupportedCode(t){return(this.options.load==="languageOnly"||this.options.nonExplicitSupportedLngs)&&(t=this.getLanguagePartFromCode(t)),!this.supportedLngs||!this.supportedLngs.length||this.supportedLngs.indexOf(t)>-1}getBestMatchFromCodes(t){if(!t)return null;let r;return t.forEach(n=>{if(r)return;const a=this.formatLanguageCode(n);(!this.options.supportedLngs||this.isSupportedCode(a))&&(r=a)}),!r&&this.options.supportedLngs&&t.forEach(n=>{if(r)return;const a=this.getLanguagePartFromCode(n);if(this.isSupportedCode(a))return r=a;r=this.options.supportedLngs.find(o=>{if(o===a)return o;if(!(o.indexOf("-")<0&&a.indexOf("-")<0)&&(o.indexOf("-")>0&&a.indexOf("-")<0&&o.substring(0,o.indexOf("-"))===a||o.indexOf(a)===0&&a.length>1))return o})}),r||(r=this.getFallbackCodes(this.options.fallbackLng)[0]),r}getFallbackCodes(t,r){if(!t)return[];if(typeof t=="function"&&(t=t(r)),typeof t=="string"&&(t=[t]),Array.isArray(t))return t;if(!r)return t.default||[];let n=t[r];return n||(n=t[this.getScriptPartFromCode(r)]),n||(n=t[this.formatLanguageCode(r)]),n||(n=t[this.getLanguagePartFromCode(r)]),n||(n=t.default),n||[]}toResolveHierarchy(t,r){const n=this.getFallbackCodes(r||this.options.fallbackLng||[],t),a=[],o=i=>{i&&(this.isSupportedCode(i)?a.push(i):this.logger.warn(`rejecting language code not found in supportedLngs: ${i}`))};return typeof t=="string"&&(t.indexOf("-")>-1||t.indexOf("_")>-1)?(this.options.load!=="languageOnly"&&o(this.formatLanguageCode(t)),this.options.load!=="languageOnly"&&this.options.load!=="currentOnly"&&o(this.getScriptPartFromCode(t)),this.options.load!=="currentOnly"&&o(this.getLanguagePartFromCode(t))):typeof t=="string"&&o(this.formatLanguageCode(t)),n.forEach(i=>{a.indexOf(i)<0&&o(this.formatLanguageCode(i))}),a}}let zc=[{lngs:["ach","ak","am","arn","br","fil","gun","ln","mfe","mg","mi","oc","pt","pt-BR","tg","tl","ti","tr","uz","wa"],nr:[1,2],fc:1},{lngs:["af","an","ast","az","bg","bn","ca","da","de","dev","el","en","eo","es","et","eu","fi","fo","fur","fy","gl","gu","ha","hi","hu","hy","ia","it","kk","kn","ku","lb","mai","ml","mn","mr","nah","nap","nb","ne","nl","nn","no","nso","pa","pap","pms","ps","pt-PT","rm","sco","se","si","so","son","sq","sv","sw","ta","te","tk","ur","yo"],nr:[1,2],fc:2},{lngs:["ay","bo","cgg","fa","ht","id","ja","jbo","ka","km","ko","ky","lo","ms","sah","su","th","tt","ug","vi","wo","zh"],nr:[1],fc:3},{lngs:["be","bs","cnr","dz","hr","ru","sr","uk"],nr:[1,2,5],fc:4},{lngs:["ar"],nr:[0,1,2,3,11,100],fc:5},{lngs:["cs","sk"],nr:[1,2,5],fc:6},{lngs:["csb","pl"],nr:[1,2,5],fc:7},{lngs:["cy"],nr:[1,2,3,8],fc:8},{lngs:["fr"],nr:[1,2],fc:9},{lngs:["ga"],nr:[1,2,3,7,11],fc:10},{lngs:["gd"],nr:[1,2,3,20],fc:11},{lngs:["is"],nr:[1,2],fc:12},{lngs:["jv"],nr:[0,1],fc:13},{lngs:["kw"],nr:[1,2,3,4],fc:14},{lngs:["lt"],nr:[1,2,10],fc:15},{lngs:["lv"],nr:[1,2,0],fc:16},{lngs:["mk"],nr:[1,2],fc:17},{lngs:["mnk"],nr:[0,1,2],fc:18},{lngs:["mt"],nr:[1,2,11,20],fc:19},{lngs:["or"],nr:[2,1],fc:2},{lngs:["ro"],nr:[1,2,20],fc:20},{lngs:["sl"],nr:[5,1,2,3],fc:21},{lngs:["he","iw"],nr:[1,2,20,21],fc:22}],Wc={1:e=>+(e>1),2:e=>+(e!=1),3:e=>0,4:e=>e%10==1&&e%100!=11?0:e%10>=2&&e%10<=4&&(e%100<10||e%100>=20)?1:2,5:e=>e==0?0:e==1?1:e==2?2:e%100>=3&&e%100<=10?3:e%100>=11?4:5,6:e=>e==1?0:e>=2&&e<=4?1:2,7:e=>e==1?0:e%10>=2&&e%10<=4&&(e%100<10||e%100>=20)?1:2,8:e=>e==1?0:e==2?1:e!=8&&e!=11?2:3,9:e=>+(e>=2),10:e=>e==1?0:e==2?1:e<7?2:e<11?3:4,11:e=>e==1||e==11?0:e==2||e==12?1:e>2&&e<20?2:3,12:e=>+(e%10!=1||e%100==11),13:e=>+(e!==0),14:e=>e==1?0:e==2?1:e==3?2:3,15:e=>e%10==1&&e%100!=11?0:e%10>=2&&(e%100<10||e%100>=20)?1:2,16:e=>e%10==1&&e%100!=11?0:e!==0?1:2,17:e=>e==1||e%10==1&&e%100!=11?0:1,18:e=>e==0?0:e==1?1:2,19:e=>e==1?0:e==0||e%100>1&&e%100<11?1:e%100>10&&e%100<20?2:3,20:e=>e==1?0:e==0||e%100>0&&e%100<20?1:2,21:e=>e%100==1?1:e%100==2?2:e%100==3||e%100==4?3:0,22:e=>e==1?0:e==2?1:(e<0||e>10)&&e%10==0?2:3};const Kc=["v1","v2","v3"],Hc=["v4"],es={zero:0,one:1,two:2,few:3,many:4,other:5},Xc=()=>{const e={};return zc.forEach(t=>{t.lngs.forEach(r=>{e[r]={numbers:t.nr,plurals:Wc[t.fc]}})}),e};class qc{constructor(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};this.languageUtils=t,this.options=r,this.logger=ht.create("pluralResolver"),(!this.options.compatibilityJSON||Hc.includes(this.options.compatibilityJSON))&&(typeof Intl>"u"||!Intl.PluralRules)&&(this.options.compatibilityJSON="v3",this.logger.error("Your environment seems not to be Intl API compatible, use an Intl.PluralRules polyfill. 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n?this.shouldUseIntlApi()?n.resolvedOptions().pluralCategories.sort((a,o)=>es[a]-es[o]).map(a=>`${this.options.prepend}${r.ordinal?`ordinal${this.options.prepend}`:""}${a}`):n.numbers.map(a=>this.getSuffix(t,a,r)):[]}getSuffix(t,r){let n=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{};const a=this.getRule(t,n);return a?this.shouldUseIntlApi()?`${this.options.prepend}${n.ordinal?`ordinal${this.options.prepend}`:""}${a.select(r)}`:this.getSuffixRetroCompatible(a,r):(this.logger.warn(`no plural rule found for: ${t}`),"")}getSuffixRetroCompatible(t,r){const n=t.noAbs?t.plurals(r):t.plurals(Math.abs(r));let a=t.numbers[n];this.options.simplifyPluralSuffix&&t.numbers.length===2&&t.numbers[0]===1&&(a===2?a="plural":a===1&&(a=""));const o=()=>this.options.prepend&&a.toString()?this.options.prepend+a.toString():a.toString();return this.options.compatibilityJSON==="v1"?a===1?"":typeof a=="number"?`_plural_${a.toString()}`:o():this.options.compatibilityJSON==="v2"||this.options.simplifyPluralSuffix&&t.numbers.length===2&&t.numbers[0]===1?o():this.options.prepend&&n.toString()?this.options.prepend+n.toString():n.toString()}shouldUseIntlApi(){return!Kc.includes(this.options.compatibilityJSON)}}const ts=function(e,t,r){let n=arguments.length>3&&arguments[3]!==void 0?arguments[3]:".",a=arguments.length>4&&arguments[4]!==void 0?arguments[4]:!0,o=Fc(e,t,r);return!o&&a&&typeof r=="string"&&(o=za(e,r,n),o===void 0&&(o=za(t,r,n))),o},Aa=e=>e.replace(/\$/g,"$$$$");class Yc{constructor(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};this.logger=ht.create("interpolator"),this.options=t,this.format=t.interpolation&&t.interpolation.format||(r=>r),this.init(t)}init(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};t.interpolation||(t.interpolation={escapeValue:!0});const{escape:r,escapeValue:n,useRawValueToEscape:a,prefix:o,prefixEscaped:i,suffix:l,suffixEscaped:c,formatSeparator:u,unescapeSuffix:d,unescapePrefix:m,nestingPrefix:f,nestingPrefixEscaped:v,nestingSuffix:y,nestingSuffixEscaped:_,nestingOptionsSeparator:g,maxReplaces:x,alwaysFormat:j}=t.interpolation;this.escape=r!==void 0?r:Uc,this.escapeValue=n!==void 0?n:!0,this.useRawValueToEscape=a!==void 0?a:!1,this.prefix=o?ir(o):i||"{{",this.suffix=l?ir(l):c||"}}",this.formatSeparator=u||",",this.unescapePrefix=d?"":m||"-",this.unescapeSuffix=this.unescapePrefix?"":d||"",this.nestingPrefix=f?ir(f):v||ir("$t("),this.nestingSuffix=y?ir(y):_||ir(")"),this.nestingOptionsSeparator=g||",",this.maxReplaces=x||1e3,this.alwaysFormat=j!==void 0?j:!1,this.resetRegExp()}reset(){this.options&&this.init(this.options)}resetRegExp(){const t=(r,n)=>r&&r.source===n?(r.lastIndex=0,r):new RegExp(n,"g");this.regexp=t(this.regexp,`${this.prefix}(.+?)${this.suffix}`),this.regexpUnescape=t(this.regexpUnescape,`${this.prefix}${this.unescapePrefix}(.+?)${this.unescapeSuffix}${this.suffix}`),this.nestingRegexp=t(this.nestingRegexp,`${this.nestingPrefix}(.+?)${this.nestingSuffix}`)}interpolate(t,r,n,a){let o,i,l;const c=this.options&&this.options.interpolation&&this.options.interpolation.defaultVariables||{},u=v=>{if(v.indexOf(this.formatSeparator)<0){const x=ts(r,c,v,this.options.keySeparator,this.options.ignoreJSONStructure);return this.alwaysFormat?this.format(x,void 0,n,{...a,...r,interpolationkey:v}):x}const y=v.split(this.formatSeparator),_=y.shift().trim(),g=y.join(this.formatSeparator).trim();return this.format(ts(r,c,_,this.options.keySeparator,this.options.ignoreJSONStructure),g,n,{...a,...r,interpolationkey:_})};this.resetRegExp();const d=a&&a.missingInterpolationHandler||this.options.missingInterpolationHandler,m=a&&a.interpolation&&a.interpolation.skipOnVariables!==void 0?a.interpolation.skipOnVariables:this.options.interpolation.skipOnVariables;return[{regex:this.regexpUnescape,safeValue:v=>Aa(v)},{regex:this.regexp,safeValue:v=>this.escapeValue?Aa(this.escape(v)):Aa(v)}].forEach(v=>{for(l=0;o=v.regex.exec(t);){const y=o[1].trim();if(i=u(y),i===void 0)if(typeof d=="function"){const g=d(t,o,a);i=typeof g=="string"?g:""}else if(a&&Object.prototype.hasOwnProperty.call(a,y))i="";else if(m){i=o[0];continue}else this.logger.warn(`missed to pass in variable ${y} for interpolating ${t}`),i="";else typeof i!="string"&&!this.useRawValueToEscape&&(i=Ko(i));const _=v.safeValue(i);if(t=t.replace(o[0],_),m?(v.regex.lastIndex+=i.length,v.regex.lastIndex-=o[0].length):v.regex.lastIndex=0,l++,l>=this.maxReplaces)break}}),t}nest(t,r){let n=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{},a,o,i;const l=(c,u)=>{const d=this.nestingOptionsSeparator;if(c.indexOf(d)<0)return c;const m=c.split(new RegExp(`${d}[ ]*{`));let f=`{${m[1]}`;c=m[0],f=this.interpolate(f,i);const v=f.match(/'/g),y=f.match(/"/g);(v&&v.length%2===0&&!y||y.length%2!==0)&&(f=f.replace(/'/g,'"'));try{i=JSON.parse(f),u&&(i={...u,...i})}catch(_){return this.logger.warn(`failed parsing options string in nesting for key ${c}`,_),`${c}${d}${f}`}return i.defaultValue&&i.defaultValue.indexOf(this.prefix)>-1&&delete i.defaultValue,c};for(;a=this.nestingRegexp.exec(t);){let c=[];i={...n},i=i.replace&&typeof i.replace!="string"?i.replace:i,i.applyPostProcessor=!1,delete i.defaultValue;let u=!1;if(a[0].indexOf(this.formatSeparator)!==-1&&!/{.*}/.test(a[1])){const d=a[1].split(this.formatSeparator).map(m=>m.trim());a[1]=d.shift(),c=d,u=!0}if(o=r(l.call(this,a[1].trim(),i),i),o&&a[0]===t&&typeof o!="string")return o;typeof o!="string"&&(o=Ko(o)),o||(this.logger.warn(`missed to resolve ${a[1]} for nesting 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l||(l=e($n(n),a),t[i]=l),l(r)}};class Qc{constructor(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};this.logger=ht.create("formatter"),this.options=t,this.formats={number:lr((r,n)=>{const a=new Intl.NumberFormat(r,{...n});return o=>a.format(o)}),currency:lr((r,n)=>{const a=new Intl.NumberFormat(r,{...n,style:"currency"});return o=>a.format(o)}),datetime:lr((r,n)=>{const a=new Intl.DateTimeFormat(r,{...n});return o=>a.format(o)}),relativetime:lr((r,n)=>{const a=new Intl.RelativeTimeFormat(r,{...n});return o=>a.format(o,n.range||"day")}),list:lr((r,n)=>{const a=new Intl.ListFormat(r,{...n});return o=>a.format(o)})},this.init(t)}init(t){const n=(arguments.length>1&&arguments[1]!==void 0?arguments[1]:{interpolation:{}}).interpolation;this.formatSeparator=n.formatSeparator?n.formatSeparator:n.formatSeparator||","}add(t,r){this.formats[t.toLowerCase().trim()]=r}addCached(t,r){this.formats[t.toLowerCase().trim()]=lr(r)}format(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};const o=r.split(this.formatSeparator);if(o.length>1&&o[0].indexOf("(")>1&&o[0].indexOf(")")<0&&o.find(l=>l.indexOf(")")>-1)){const l=o.findIndex(c=>c.indexOf(")")>-1);o[0]=[o[0],...o.splice(1,l)].join(this.formatSeparator)}return o.reduce((l,c)=>{const{formatName:u,formatOptions:d}=Zc(c);if(this.formats[u]){let m=l;try{const f=a&&a.formatParams&&a.formatParams[a.interpolationkey]||{},v=f.locale||f.lng||a.locale||a.lng||n;m=this.formats[u](l,v,{...d,...a,...f})}catch(f){this.logger.warn(f)}return m}else this.logger.warn(`there was no format function for ${u}`);return l},t)}}const eu=(e,t)=>{e.pending[t]!==void 0&&(delete e.pending[t],e.pendingCount--)};class tu extends Hn{constructor(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};super(),this.backend=t,this.store=r,this.services=n,this.languageUtils=n.languageUtils,this.options=a,this.logger=ht.create("backendConnector"),this.waitingReads=[],this.maxParallelReads=a.maxParallelReads||10,this.readingCalls=0,this.maxRetries=a.maxRetries>=0?a.maxRetries:5,this.retryTimeout=a.retryTimeout>=1?a.retryTimeout:350,this.state={},this.queue=[],this.backend&&this.backend.init&&this.backend.init(n,a.backend,a)}queueLoad(t,r,n,a){const o={},i={},l={},c={};return t.forEach(u=>{let d=!0;r.forEach(m=>{const f=`${u}|${m}`;!n.reload&&this.store.hasResourceBundle(u,m)?this.state[f]=2:this.state[f]<0||(this.state[f]===1?i[f]===void 0&&(i[f]=!0):(this.state[f]=1,d=!1,i[f]===void 0&&(i[f]=!0),o[f]===void 0&&(o[f]=!0),c[m]===void 0&&(c[m]=!0)))}),d||(l[u]=!0)}),(Object.keys(o).length||Object.keys(i).length)&&this.queue.push({pending:i,pendingCount:Object.keys(i).length,loaded:{},errors:[],callback:a}),{toLoad:Object.keys(o),pending:Object.keys(i),toLoadLanguages:Object.keys(l),toLoadNamespaces:Object.keys(c)}}loaded(t,r,n){const a=t.split("|"),o=a[0],i=a[1];r&&this.emit("failedLoading",o,i,r),n&&this.store.addResourceBundle(o,i,n,void 0,void 0,{skipCopy:!0}),this.state[t]=r?-1:2;const l={};this.queue.forEach(c=>{Nc(c.loaded,[o],i),eu(c,t),r&&c.errors.push(r),c.pendingCount===0&&!c.done&&(Object.keys(c.loaded).forEach(u=>{l[u]||(l[u]={});const d=c.loaded[u];d.length&&d.forEach(m=>{l[u][m]===void 0&&(l[u][m]=!0)})}),c.done=!0,c.errors.length?c.callback(c.errors):c.callback())}),this.emit("loaded",l),this.queue=this.queue.filter(c=>!c.done)}read(t,r,n){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:0,o=arguments.length>4&&arguments[4]!==void 0?arguments[4]:this.retryTimeout,i=arguments.length>5?arguments[5]:void 0;if(!t.length)return i(null,{});if(this.readingCalls>=this.maxParallelReads){this.waitingReads.push({lng:t,ns:r,fcName:n,tried:a,wait:o,callback:i});return}this.readingCalls++;const l=(u,d)=>{if(this.readingCalls--,this.waitingReads.length>0){const m=this.waitingReads.shift();this.read(m.lng,m.ns,m.fcName,m.tried,m.wait,m.callback)}if(u&&d&&a<this.maxRetries){setTimeout(()=>{this.read.call(this,t,r,n,a+1,o*2,i)},o);return}i(u,d)},c=this.backend[n].bind(this.backend);if(c.length===2){try{const u=c(t,r);u&&typeof u.then=="function"?u.then(d=>l(null,d)).catch(l):l(null,u)}catch(u){l(u)}return}return c(t,r,l)}prepareLoading(t,r){let n=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{},a=arguments.length>3?arguments[3]:void 0;if(!this.backend)return this.logger.warn("No backend was added via i18next.use. 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t=this;let r=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{},n=arguments.length>1?arguments[1]:void 0;this.isInitializing=!0,typeof r=="function"&&(n=r,r={}),!r.defaultNS&&r.defaultNS!==!1&&r.ns&&(typeof r.ns=="string"?r.defaultNS=r.ns:r.ns.indexOf("translation")<0&&(r.defaultNS=r.ns[0]));const a=rs();this.options={...a,...this.options,...ns(r)},this.options.compatibilityAPI!=="v1"&&(this.options.interpolation={...a.interpolation,...this.options.interpolation}),r.keySeparator!==void 0&&(this.options.userDefinedKeySeparator=r.keySeparator),r.nsSeparator!==void 0&&(this.options.userDefinedNsSeparator=r.nsSeparator);const o=d=>d?typeof d=="function"?new d:d:null;if(!this.options.isClone){this.modules.logger?ht.init(o(this.modules.logger),this.options):ht.init(null,this.options);let d;this.modules.formatter?d=this.modules.formatter:typeof Intl<"u"&&(d=Qc);const m=new Qo(this.options);this.store=new Yo(this.options.resources,this.options);const f=this.services;f.logger=ht,f.resourceStore=this.store,f.languageUtils=m,f.pluralResolver=new qc(m,{prepend:this.options.pluralSeparator,compatibilityJSON:this.options.compatibilityJSON,simplifyPluralSuffix:this.options.simplifyPluralSuffix}),d&&(!this.options.interpolation.format||this.options.interpolation.format===a.interpolation.format)&&(f.formatter=o(d),f.formatter.init(f,this.options),this.options.interpolation.format=f.formatter.format.bind(f.formatter)),f.interpolator=new Yc(this.options),f.utils={hasLoadedNamespace:this.hasLoadedNamespace.bind(this)},f.backendConnector=new tu(o(this.modules.backend),f.resourceStore,f,this.options),f.backendConnector.on("*",function(v){for(var y=arguments.length,_=new 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bs({modelURL:e,rapidlyChangingMotionState:t,...r}){const n=oe.useGLTF(e),a=n.nodes,o=n.materials,i=[0,Math.PI/2,0,0,0,0];function l(c,u){c.forEach((d,m)=>d.rotation.y=u[m]+i[m])}return s.jsxs(s.Fragment,{children:[s.jsx(me,{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(b.animated.group,{name:"M20iD25_J00",children:[s.jsxs(b.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(b.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[s.jsxs(b.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(b.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:a.M20iD25_L06.geometry,material:o.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:a.M20iD25_L05.geometry,material:o.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:a.Mesh_2.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_2_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_2_1.geometry,material:o.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:a.Mesh_15.geometry,material:o.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_15_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_15_1.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_15_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_15_2.geometry,material:o.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:a.Mesh_37.geometry,material:o.Fanuc_BlackMetal_AO}),s.jsx("mesh",{name:"Mesh_37_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_37_1.geometry,material:o.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:a.Mesh_45.geometry,material:o.Material_9_AO}),s.jsx("mesh",{name:"Mesh_45_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_45_1.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_45_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_45_2.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M20iD25_L00",castShadow:!0,receiveShadow:!0,geometry:a.M20iD25_L00.geometry,material:o.Fanuc_BlackMetal_AO,position:[0,-.425,0],rotation:[-Math.PI/2,0,0]})]})})})]})}function 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s.jsxs(s.Fragment,{children:[s.jsx(me,{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(b.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[s.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[s.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(b.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:a.IRB1200_7_70_IRC5_L06.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L05",castShadow:!0,receiveShadow:!0,geometry:a.IRB1200_7_70_IRC5_L05.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L04",castShadow:!0,receiveShadow:!0,geometry:a.IRB1200_7_70_IRC5_L04.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L03",castShadow:!0,receiveShadow:!0,geometry:a.IRB1200_7_70_IRC5_L03.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L02",castShadow:!0,receiveShadow:!0,geometry:a.IRB1200_7_70_IRC5_L02.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"]})]}),s.jsx("mesh",{name:"IRB1200_7_70_IRC5_L01",castShadow:!0,receiveShadow:!0,geometry:a.IRB1200_7_70_IRC5_L01.geometry,material:o["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:a.IRB1200_7_70_IRC5_L00.geometry,material:o["IRB1200_7-70_IRC5.003_Bake"],rotation:[-Math.PI/2,0,0]})]})})})]})}const Ss="line",xs="mesh";function Ia({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new xt.Matrix4;function a(c,u){const d=new xt.Vector3,m=new xt.Quaternion,f=new xt.Vector3;n.decompose(d,m,f);const v=d.clone(),y=new xt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new xt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new xt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new xt.Matrix4().makeRotationX(c.alpha));return n.multiply(y),n.decompose(d,m,f),{a:v,b:d}}function o(c,u,d,m){if(!t)return;const f=t[c];if(!f)return;const{a:v,b:y}=a(f,m);u.geometry.setPositions([v.toArray(),y.toArray()].flat()),d.position.set(y.x,y.y,y.z)}function i(c,u){n.identity(),c.forEach((d,m)=>{o(m,d.getObjectByName(Ss),d.getObjectByName(xs),u[m])})}function l(c){return rl(c,"^group_[0-9]+$")}return s.jsxs(s.Fragment,{children:[s.jsx(me,{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:m}=a(c,e.state.joint_position.joints[u]??0);return s.jsxs("group",{name:`group_${u}`,children:[s.jsx(oe.Line,{name:Ss,points:[d,m],color:"white",lineWidth:5}),s.jsxs("mesh",{name:xs,position:m,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},"group_"+u)})]})]})}const of=console.warn;function sf(){return Z.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&of(e)}},[]),s.jsx(s.Fragment,{})}function xo(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const al=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=xo,isGhost:a=!1,...o})=>{let i;const l=Z.useRef(new Ce.Group),c=Z.useCallback(m=>{m!==null&&(l.current=m,console.log("robotRef.current",l.current),a&&l.current&&l.current.children.length>0&&u())},[a]),u=()=>{l.current&&!l.current.userData.ghostsCreated&&(l.current.traverse(m=>{if(m instanceof Ce.Mesh&&!m.userData.isGhost){m.material instanceof Ce.Material&&(m.material.colorWrite=!1);const f=m.clone(),v=m.clone();f.material=new Ce.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),f.userData.isGhost=!0,v.material=new Ce.MeshStandardMaterial({color:"#D91433",opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-1}),v.userData.isGhost=!0,m.parent&&(m.parent.add(f),m.parent.add(v))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const m=[];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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+The following color spaces are supported: srgb, display-p3, a98-rgb, prophoto-rgb, rec-2020.`:(0,Gs.default)(10,a))}else n=n.split(",");return n=n.map(o=>parseFloat(o)),{type:r,values:n,colorSpace:a}}const Nl=e=>{const t=rt(e);return t.values.slice(0,3).map((r,n)=>t.type.indexOf("hsl")!==-1&&n!==0?`${r}%`:r).join(" ")};ve.colorChannel=Nl;const b0=(e,t)=>{try{return Nl(e)}catch{return t&&process.env.NODE_ENV!=="production"&&console.warn(t),e}};ve.private_safeColorChannel=b0;function Cr(e){const{type:t,colorSpace:r}=e;let{values:n}=e;return t.indexOf("rgb")!==-1?n=n.map((a,o)=>o<3?parseInt(a,10):a):t.indexOf("hsl")!==-1&&(n[1]=`${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)=>v0(n===3?Math.round(255*r):r)).join("")}`}function 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Cr({type:"rgb",values:l})}const 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a=n.light||n,o=n.dark||n*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=so(e.main,a):t==="dark"&&(e.dark=oo(e.main,o)))}function T0(e="light"){return e==="dark"?{main:dr[200],light:dr[50],dark:dr[400]}:{main:dr[700],light:dr[400],dark:dr[800]}}function M0(e="light"){return e==="dark"?{main:cr[200],light:cr[50],dark:cr[400]}:{main:cr[500],light:cr[300],dark:cr[700]}}function I0(e="light"){return e==="dark"?{main:ur[500],light:ur[300],dark:ur[700]}:{main:ur[700],light:ur[400],dark:ur[800]}}function E0(e="light"){return e==="dark"?{main:fr[400],light:fr[300],dark:fr[700]}:{main:fr[700],light:fr[500],dark:fr[900]}}function k0(e="light"){return e==="dark"?{main:mr[400],light:mr[300],dark:mr[700]}:{main:mr[800],light:mr[500],dark:mr[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 $0(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:n=.2}=e,a=Be(e,O0),o=e.primary||T0(t),i=e.secondary||M0(t),l=e.error||I0(t),c=e.info||E0(t),u=e.success||k0(t),d=e.warning||L0(t);function m(_){const g=Vs(_,Fa.text.primary)>=r?Fa.text.primary:zs.text.primary;if(process.env.NODE_ENV!=="production"){const x=Vs(_,g);x<3&&console.error([`MUI: The contrast ratio of ${x}:1 for ${g} on ${_}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
 `))}return g}const f=({color:_,name:g,mainShade:x=500,lightShade:j=300,darkShade:C=700})=>{if(_=A({},_),!_.main&&_[x]&&(_.main=_[x]),!_.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${g?` (${g})`:""} provided to augmentColor(color) is invalid.
-The color object needs to have a \`main\` property or a \`${x}\` property.`:Kr(11,g?` (${g})`:"",x));if(typeof _.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${g?` (${g})`:""} provided to augmentColor(color) is invalid.
+The color object needs to have a \`main\` property or a \`${x}\` property.`:Hr(11,g?` (${g})`:"",x));if(typeof _.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${g?` (${g})`:""} provided to augmentColor(color) is invalid.
 \`color.main\` should be a string, but \`${JSON.stringify(_.main)}\` was provided instead.
 
 Did you intend to use one of the following approaches?
@@ -77,8 +77,8 @@ const theme1 = createTheme({ palette: {
 
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   primary: { main: green[500] },
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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 $t.NovaClient({instanceUrl:e.nova}):e.nova,r=He.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){br.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const u=await t.connectJogger(e.motionGroupId),d=await Ba.loadFor(u);br.runInAction(()=>{r.joggingStore=d}),e.onSetup&&e.onSetup(d)}catch(u){r.loadingError=u}}if(q.useEffect(()=>(n(),()=>{var u;(u=r.joggingStore)==null||u.dispose()}),[e.nova]),q.useEffect(()=>{if(!r.joggingStore)return;const{currentTab:u,selectedTcpId:d,activeCoordSystemId:m,activeDiscreteIncrement:f}=r.joggingStore;if(u.id!=="cartesian"&&u.id!=="joint")return;const b={tcpId:d,coordSystemId:m};f&&u.id==="cartesian"?r.joggingStore.jogger.setJoggingMode("increment",b):r.joggingStore.jogger.setJoggingMode(u.id,b)},[(a=r.joggingStore)==null?void 0:a.currentTab,(i=r.joggingStore)==null?void 0:i.selectedTcpId,(l=r.joggingStore)==null?void 0:l.activeCoordSystemId,(c=r.joggingStore)==null?void 0:c.activeDiscreteIncrement]),!r.joggingStore||r.loadingError)return s.jsx(wi,{children:s.jsx(Qi,{message:"Loading jogging",error:r.loadingError})});const{joggingStore:o}=r;return s.jsx(wi,{children:s.jsxs(k.Stack,{flexGrow:1,children:[s.jsx(k.Tabs,{value:o.tabIndex,onChange:o.onTabChange,children:o.tabs.map(u=>s.jsx(k.Tab,{label:u.label,id:`jogging-tab-${u.id}`,"aria-controls":`jogging-tab-${u.id}`},u.id))}),s.jsxs(k.Stack,{flexGrow:1,children:[o.currentTab.id==="cartesian"&&s.jsx(q1,{store:o}),o.currentTab.id==="joint"&&s.jsx(Z1,{store:o}),e.children]})]})})}));function wi({children:e}){return s.jsx(k.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(k.Paper,{sx:{height:"100%"},children:e})})}function U_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function B_({baseUrl:e=U_(),...t}){return s.jsxs(k.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[s.jsx(k.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(k.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(k.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(k.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(k.DialogActions,{children:s.jsxs(k.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(k.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(k.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),mt={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:mt.skyblue500,textDefault:mt.white,textSubtle:mt.midnightgray,background:{default:mt.darkishblue,panel:mt.darkestblue}}},G_={mode:"light",colors:{primary:mt.skyblue500,textDefault:mt.darkishblue,textSubtle:mt.midnightgray,background:{default:mt.skyblue500,panel:mt.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 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function(t){return t==null?void 0:t[e]}}function E_(e){return function(t){return hc(t,e)}}function k_(e){return Bo(e)?I_(_a(e)):E_(e)}function L_(e){return typeof e=="function"?e:e==null?M_:typeof e=="object"?yt(e)?T_(e[0],e[1]):f_(e):k_(e)}function $_(e,t){return function(r,n){var a=yt(r)?t_:i_,o={};return a(r,e,L_(n),o)}}var wn=$_(function(e,t,r){e_(e,r,t)}),N_=0;function F_(e){var t=++N_;return fc(e)+t}const po=[{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}],D_=[{id:"continuous"},...po];class Vo{constructor(t,r,n,a){var o,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=a,this.selectedTabId="cartesian",this.activationState="inactive",this.activationError=null,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=((o=n[0])==null?void 0:o.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",wt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(wt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=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 Vo(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(){if(this.activationState==="inactive")return;const t=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),t&&await t.closed()}async activate(){const{currentTab:t,selectedTcpId:r,activeCoordSystemId:n,activeDiscreteIncrement:a,jogger:o}=this;if(this.activationState!=="loading"){if(wt.runInAction(()=>{this.activationState="loading",this.activationError=null}),t.id==="cartesian"){const i={tcpId:r,coordSystemId:n};a?o.setJoggingMode("increment",i):o.setJoggingMode("cartesian",i)}else o.setJoggingMode("joint");if(o.activeWebsocket)try{o.stop(),await o.activeWebsocket.nextMessage()}catch(i){wt.runInAction(()=>{this.activationState="inactive",this.activationError=i});return}wt.runInAction(()=>{this.activationState="active"})}}loadFromLocalStorage(){const t=Nt.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 D_}get discreteIncrementOptions(){return po}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:po.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=F_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const Ri=e=>s.jsx(E.Stack,{position:"absolute",left:0,top:0,width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{backgroundColor:"rgba(0, 0, 0, 0.5)",backdropFilter:"blur(10px)",zIndex:100},...e}),U_=en(De.observer(e=>{const t=Pc.isString(e.nova)?new Nt.NovaClient({instanceUrl:e.nova}):e.nova,r=De.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){wt.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),o=await Vo.loadFor(a);wt.runInAction(()=>{r.joggingStore=o}),e.onSetup&&e.onSetup(o)}catch(a){r.loadingError=a}}return Z.useEffect(()=>(n(),()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.nova]),Z.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),s.jsx(E.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(E.Paper,{sx:{height:"100%"},children:r.joggingStore?s.jsx(B_,{store:r.joggingStore,children:e.children}):s.jsx(bo,{message:"Loading jogging",error:r.loadingError})})})})),B_=De.observer(({store:e,children:t})=>{Z.useEffect(()=>(window.addEventListener("blur",e.deactivate),()=>{window.removeEventListener("blur",e.deactivate)})),So(()=>[e.currentTab,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState==="active"&&e.activate()});function r(){if(e.activationState==="inactive"&&!e.activationError)return s.jsx(Ri,{children:s.jsx(E.Button,{color:"primary",variant:"contained",onClick:e.activate,disabled:e.isLocked,children:"Activate jogging"})});if(e.activationState==="loading"||e.activationError)return s.jsx(Ri,{children:s.jsx(bo,{message:"Activating jogging",error:e.activationError})})}function n(){if(e.currentTab.id==="cartesian")return s.jsxs(s.Fragment,{children:[s.jsx(Y1,{store:e}),t]});if(e.currentTab.id==="joint")return s.jsxs(s.Fragment,{children:[s.jsx(Q1,{store:e}),t]})}return s.jsxs(E.Stack,{flexGrow:1,height:"100%",children:[s.jsx(E.Tabs,{value:e.tabIndex,onChange:e.onTabChange,children:e.tabs.map(a=>s.jsx(E.Tab,{label:a.label,id:`jogging-tab-${a.id}`,"aria-controls":`jogging-tab-${a.id}`},a.id))}),s.jsxs(E.Stack,{flexGrow:1,position:"relative",children:[r(),n()]})]})});function J_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function V_({baseUrl:e=J_(),...t}){return s.jsxs(E.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(E.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(E.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(E.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(E.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(E.DialogActions,{children:s.jsxs(E.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(E.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(E.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const G_=Array(6).fill(2*Math.PI),mt={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"},z_={mode:"dark",colors:{primary:mt.skyblue500,textDefault:mt.white,textSubtle:mt.midnightgray,background:{default:mt.darkishblue,panel:mt.darkestblue}}},W_={mode:"light",colors:{primary:mt.skyblue500,textDefault:mt.darkishblue,textSubtle:mt.midnightgray,background:{default:mt.skyblue500,panel:mt.white}}};function K_(e){var a,o,i,l;let t=!0;((a=e.palette)==null?void 0:a.mode)==="light"?t=!1:((o=e.palette)==null?void 0:o.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?z_:W_,n=io({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?io(n,e):n}exports.JoggingCartesianAxisControl=lo;exports.JoggingJointRotationControl=Wl;exports.JoggingPanel=U_;exports.NoMotionGroupModal=V_;exports.PresetEnvironment=cf;exports.Robot=lf;exports.SafetyZonesRenderer=ff;exports.SupportedRobot=al;exports.VelocitySlider=ql;exports.WandelscriptEditor=$d;exports.createNovaMuiTheme=K_;exports.defaultAxisConfig=G_;exports.defaultGetModel=xo;exports.useAnimationFrame=wr;exports.useAutorun=nl;exports.useMounted=ea;exports.useReaction=So;
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