@wandelbots/wandelbots-js-react-components 1.16.2 → 1.17.0

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Files changed (7) hide show
  1. package/dist/components/robots/KUKA_KR270_R2700.d.ts.map +1 -1
  2. package/dist/index.cjs +1 -1
  3. package/dist/index.cjs.map +1 -1
  4. package/dist/index.js +24 -27
  5. package/dist/index.js.map +1 -1
  6. package/package.json +2 -2
  7. package/src/components/robots/KUKA_KR270_R2700.tsx +124 -127
package/dist/components/robots/KUKA_KR270_R2700.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"KUKA_KR270_R2700.d.ts","sourceRoot":"","sources":["../../../src/components/robots/KUKA_KR270_R2700.tsx"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA;AAIlD,wBAAgB,gBAAgB,CAAC,EAC/B,QAAQ,EACR,0BAA0B,EAC1B,GAAG,KAAK,EACT,EAAE,UAAU,2CAyOZ"}
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+ {"version":3,"file":"KUKA_KR270_R2700.d.ts","sourceRoot":"","sources":["../../../src/components/robots/KUKA_KR270_R2700.tsx"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA;AAIlD,wBAAgB,gBAAgB,CAAC,EAC/B,QAAQ,EACR,0BAA0B,EAC1B,GAAG,KAAK,EACT,EAAE,UAAU,2CAsOZ"}
package/dist/index.cjs CHANGED
@@ -32,7 +32,7 @@ React keys must be passed directly to JSX without using spread:
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s.jsxs(s.Fragment,{children:[s.jsx(he,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M10iD_L06",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L06.geometry,material:o.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),s.jsx("mesh",{name:"M10iD_L05",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L05.geometry,material:o.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),s.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_654",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_654.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_654_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_654_1.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_378",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378.geometry,material:o.Material_1_AO}),s.jsx("mesh",{name:"Mesh_378_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378_1.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_378_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378_2.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_358",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_358.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_358_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_358_1.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L01",children:[s.jsx("mesh",{name:"Mesh_356",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_356_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356_1.geometry,material:o.Material_1_AO}),s.jsx("mesh",{name:"Mesh_356_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356_2.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M10iD_L00",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L00.geometry,material:o.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})]})}function 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(u,c){u.forEach((d,h)=>d.rotation.y=c[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(he,{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 am({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(u,c){u.forEach((d,h)=>d.rotation.y=c[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(he,{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 Ea({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new jt.Matrix4;function a(u,c){const d=new jt.Vector3,h=new jt.Quaternion,m=new jt.Vector3;n.decompose(d,h,m);const v=d.clone(),y=new jt.Matrix4().makeRotationY(u.theta+c*(u.reverse_rotation_direction?-1:1)).multiply(new jt.Matrix4().makeTranslation(0,u.d/1e3,0)).multiply(new jt.Matrix4().makeTranslation(u.a/1e3,0,0)).multiply(new jt.Matrix4().makeRotationX(u.alpha));return n.multiply(y),n.decompose(d,h,m),{a:v,b:d}}function o(u,c,d,h){if(!t)return;const m=t[u];if(!m)return;const{a:v,b:y}=a(m,h);c.geometry.setPositions([v.toArray(),y.toArray()].flat()),d.position.set(y.x,y.y,y.z)}function i(u,c){n.identity(),u.forEach((d,h)=>{o(h,d.getObjectByName(Ss),d.getObjectByName(xs),c[h])})}function l(u){return al(u,"^group_[0-9]+$")}return s.jsxs(s.Fragment,{children:[s.jsx(he,{rapidlyChangingMotionState:e,robotRootObjectName:"Scene",onRotationChanged:i,jointCollector:l}),s.jsxs("group",{...r,name:"Scene",children:[s.jsxs("mesh",{children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((u,c)=>{const{a:d,b:h}=a(u,e.state.joint_position.joints[c]??0);return s.jsxs("group",{name:`group_${c}`,children:[s.jsx(oe.Line,{name:Ss,points:[d,h],color:"white",lineWidth:5}),s.jsxs("mesh",{name:xs,position:h,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+c)]},"group_"+c)})]})]})}const om=console.warn;function sm(){return Z.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&om(e)}},[]),s.jsx(s.Fragment,{})}function xo(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const sl=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=xo,isGhost:a=!1,...o})=>{let i;const l=Z.useRef(new Ce.Group),u=Z.useCallback(h=>{h!==null&&(l.current=h,console.log("robotRef.current",l.current),a&&l.current&&l.current.children.length>0&&c())},[a]),c=()=>{l.current&&!l.current.userData.ghostsCreated&&(l.current.traverse(h=>{if(h instanceof Ce.Mesh&&!h.userData.isGhost){h.material instanceof Ce.Material&&(h.material.colorWrite=!1);const m=h.clone(),v=h.clone();m.material=new Ce.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),m.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,h.parent&&(h.parent.add(m),h.parent.add(v))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const h=[];l.current.traverse(m=>{m instanceof Ce.Mesh&&m.material instanceof Ce.Material&&(m.material.colorWrite=!0),m instanceof Ce.Mesh&&m.userData!==void 0&&m.userData&&m.userData.isGhost!==void 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s.jsxs(s.Fragment,{children:[s.jsx(he,{rapidlyChangingMotionState:t,robotRootObjectName:"Scene",onRotationChanged:l}),s.jsx("group",{...r,dispose:null,children:s.jsx("group",{name:"Scene",children:s.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[s.jsxs(b.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[s.jsx("group",{name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),s.jsx("mesh",{name:"M10iD_L06",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L06.geometry,material:o.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),s.jsx("mesh",{name:"M10iD_L05",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L05.geometry,material:o.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),s.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_654",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_654.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_654_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_654_1.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_378",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378.geometry,material:o.Material_1_AO}),s.jsx("mesh",{name:"Mesh_378_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378_1.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_378_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_378_2.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[s.jsx("mesh",{name:"Mesh_358",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_358.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_358_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_358_1.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsxs("group",{name:"M10iD_L01",children:[s.jsx("mesh",{name:"Mesh_356",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356.geometry,material:o.Fanuc_Yellow_Textured_AO}),s.jsx("mesh",{name:"Mesh_356_1",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356_1.geometry,material:o.Material_1_AO}),s.jsx("mesh",{name:"Mesh_356_2",castShadow:!0,receiveShadow:!0,geometry:a.Mesh_356_2.geometry,material:o.Fanuc_BlackMetal_AO})]})]}),s.jsx("mesh",{name:"M10iD_L00",castShadow:!0,receiveShadow:!0,geometry:a.M10iD_L00.geometry,material:o.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})]})}function 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(u,c){u.forEach((d,h)=>d.rotation.y=c[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(he,{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 am({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(u,c){u.forEach((d,h)=>d.rotation.y=c[h]+i[h])}return s.jsxs(s.Fragment,{children:[s.jsx(he,{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 Ea({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new jt.Matrix4;function a(u,c){const d=new jt.Vector3,h=new jt.Quaternion,m=new jt.Vector3;n.decompose(d,h,m);const v=d.clone(),y=new jt.Matrix4().makeRotationY(u.theta+c*(u.reverse_rotation_direction?-1:1)).multiply(new jt.Matrix4().makeTranslation(0,u.d/1e3,0)).multiply(new jt.Matrix4().makeTranslation(u.a/1e3,0,0)).multiply(new jt.Matrix4().makeRotationX(u.alpha));return n.multiply(y),n.decompose(d,h,m),{a:v,b:d}}function o(u,c,d,h){if(!t)return;const m=t[u];if(!m)return;const{a:v,b:y}=a(m,h);c.geometry.setPositions([v.toArray(),y.toArray()].flat()),d.position.set(y.x,y.y,y.z)}function i(u,c){n.identity(),u.forEach((d,h)=>{o(h,d.getObjectByName(Ss),d.getObjectByName(xs),c[h])})}function l(u){return al(u,"^group_[0-9]+$")}return s.jsxs(s.Fragment,{children:[s.jsx(he,{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((u,c)=>{const{a:d,b:h}=a(u,e.state.joint_position.joints[c]??0);return s.jsxs("group",{name:`group_${c}`,children:[s.jsx(oe.Line,{name:Ss,points:[d,h],color:"white",lineWidth:5}),s.jsxs("mesh",{name:xs,position:h,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+c)]},"group_"+c)})]})]})}const om=console.warn;function sm(){return Z.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&om(e)}},[]),s.jsx(s.Fragment,{})}function xo(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const sl=en(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=xo,isGhost:a=!1,...o})=>{let i;const l=Z.useRef(new Ce.Group),u=Z.useCallback(h=>{h!==null&&(l.current=h,console.log("robotRef.current",l.current),a&&l.current&&l.current.children.length>0&&c())},[a]),c=()=>{l.current&&!l.current.userData.ghostsCreated&&(l.current.traverse(h=>{if(h instanceof Ce.Mesh&&!h.userData.isGhost){h.material instanceof Ce.Material&&(h.material.colorWrite=!1);const m=h.clone(),v=h.clone();m.material=new Ce.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),m.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,h.parent&&(h.parent.add(m),h.parent.add(v))}}),l.current.userData.ghostsCreated=!0)},d=()=>{if(l.current){const h=[];l.current.traverse(m=>{m instanceof Ce.Mesh&&m.material instanceof Ce.Material&&(m.material.colorWrite=!0),m instanceof Ce.Mesh&&m.userData!==void 0&&m.userData&&m.userData.isGhost!==void 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  * @mui/styled-engine v5.16.6
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  *
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  * @license MIT