@wandelbots/wandelbots-js-react-components 1.23.0 → 1.24.1

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "1.23.0",
+  "version": "1.24.1",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/jogging/JoggingPanel.tsx

@@ -128,13 +128,13 @@ const JoggingPanelInner = observer(
     // Update jogging mode on jogger based on user selections
     useReaction(
       () => [
-        store.currentTab,
+        store.currentTab.id,
         store.selectedTcpId,
         store.activeCoordSystemId,
         store.activeDiscreteIncrement,
       ],
       () => {
-        if (store.activationState === "active") store.activate()
+        if (store.activationState !== "inactive") store.activate()
       },
     )
 

package/src/components/jogging/JoggingStore.ts

@@ -49,6 +49,9 @@ export class JoggingStore {
    */
   activationError: unknown | null = null
 
+  /** To avoid activation race conditions */
+  activationCounter: number = 0
+
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
@@ -195,16 +198,7 @@ export class JoggingStore {
 
   /** Activate the jogger with current settings */
   async activate(opts: { manual?: boolean } = {}) {
-    const {
-      currentTab,
-      selectedTcpId,
-      activeCoordSystemId,
-      activeDiscreteIncrement,
-      jogger,
-    } = this
-
-    if (this.activationState === "loading") return
-
+    console.log("activate!!")
     if (this.manualActivationRequired && !opts.manual) return
 
     runInAction(() => {
@@ -224,25 +218,25 @@ export class JoggingStore {
       console.error(err)
     }
 
-    if (currentTab.id === "cartesian") {
+    if (this.currentTab.id === "cartesian") {
       const cartesianJoggingOpts = {
-        tcpId: selectedTcpId,
-        coordSystemId: activeCoordSystemId,
+        tcpId: this.selectedTcpId,
+        coordSystemId: this.activeCoordSystemId,
       }
 
-      if (activeDiscreteIncrement) {
-        jogger.setJoggingMode("increment", cartesianJoggingOpts)
+      if (this.activeDiscreteIncrement) {
+        this.jogger.setJoggingMode("increment", cartesianJoggingOpts)
       } else {
-        jogger.setJoggingMode("cartesian", cartesianJoggingOpts)
+        this.jogger.setJoggingMode("cartesian", cartesianJoggingOpts)
       }
     } else {
-      jogger.setJoggingMode("joint")
+      this.jogger.setJoggingMode("joint")
     }
 
-    if (jogger.activeWebsocket) {
+    if (this.jogger.activeWebsocket) {
       try {
-        jogger.stop()
-        await jogger.activeWebsocket.nextMessage()
+        this.jogger.stop()
+        await this.jogger.activeWebsocket.nextMessage()
       } catch (err) {
         runInAction(() => {
           this.activationState = "inactive"

package/src/components/robots/ABB_1300_115_10.tsx

@@ -0,0 +1,142 @@
+import { animated } from "@react-spring/three"
+import { useGLTF } from "@react-three/drei"
+import type { RobotModelProps } from "./types"
+
+ABB_1300_115_10.config = {
+  rotationOffsets: [0, -Math.PI / 2, 0, 0, 0, 0],
+}
+
+export function ABB_1300_115_10({ modelURL, ...props }: RobotModelProps) {
+  const gltf = useGLTF(modelURL) as any
+  const nodes = gltf.nodes
+  const materials = gltf.materials
+
+  return (
+    <group {...props} dispose={null}>
+      <group name="Scene">
+        <mesh
+          name="link_0"
+          castShadow
+          receiveShadow
+          geometry={nodes.link_0.geometry}
+          material={materials.Plastic}
+        />
+        <animated.group name="ABB_IRB_1300_115_10_J00">
+          <animated.group
+            name="ABB_IRB_1300_115_10_J01"
+            position={[0.15, 0.544, 0]}
+            rotation={[-Math.PI / 2, -Math.PI / 2, 0]}
+          >
+            <animated.group
+              name="ABB_IRB_1300_115_10_J02"
+              position={[0.575, 0, 0]}
+            >
+              <animated.group
+                name="ABB_IRB_1300_115_10_J03"
+                position={[0.04, 0, 0]}
+                rotation={[-Math.PI / 2, 0, 0]}
+              >
+                <animated.group
+                  name="ABB_IRB_1300_115_10_J04"
+                  position={[0, 0.425, 0]}
+                  rotation={[Math.PI / 2, 0, 0]}
+                >
+                  <animated.group
+                    name="ABB_IRB_1300_115_10_J05"
+                    rotation={[Math.PI / 2, 0, -Math.PI]}
+                  >
+                    <group
+                      name="ABB_IRB_1300_115_10_FLG"
+                      position={[0, 0.092, 0]}
+                    />
+                    <mesh
+                      name="link_6"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.link_6.geometry}
+                      material={materials.Metal}
+                      position={[1.159, -0.575, 0]}
+                      rotation={[0, 0, Math.PI / 2]}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="link_5"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.link_5.geometry}
+                    material={materials.Plastic}
+                    position={[-1.159, 0, 0.575]}
+                    rotation={[Math.PI / 2, 0, -Math.PI / 2]}
+                  />
+                </animated.group>
+                <group
+                  name="link_4"
+                  position={[-1.159, -0.15, 0]}
+                  rotation={[-Math.PI, 0, -Math.PI / 2]}
+                >
+                  <mesh
+                    name="visuals004"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals004.geometry}
+                    material={materials.Plastic}
+                  />
+                  <mesh
+                    name="visuals004_1"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals004_1.geometry}
+                    material={materials.PlasticRed}
+                  />
+                </group>
+              </animated.group>
+              <group
+                name="link_3"
+                position={[-1.119, 0, 0.15]}
+                rotation={[Math.PI / 2, 0, -Math.PI / 2]}
+              >
+                <mesh
+                  name="visuals003"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.visuals003.geometry}
+                  material={materials.Plastic}
+                />
+                <mesh
+                  name="visuals003_1"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.visuals003_1.geometry}
+                  material={materials.PlasticRed}
+                />
+                <mesh
+                  name="visuals003_2"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.visuals003_2.geometry}
+                  material={materials.Plastic}
+                />
+              </group>
+            </animated.group>
+            <mesh
+              name="link_2"
+              castShadow
+              receiveShadow
+              geometry={nodes.link_2.geometry}
+              material={materials.Plastic}
+              position={[-0.544, 0, 0.15]}
+              rotation={[Math.PI / 2, 0, -Math.PI / 2]}
+            />
+          </animated.group>
+          <mesh
+            name="link_1"
+            castShadow
+            receiveShadow
+            geometry={nodes.link_1.geometry}
+            material={materials.Plastic}
+          />
+        </animated.group>
+      </group>
+    </group>
+  )
+}

package/src/components/robots/SupportedRobot.tsx

@@ -1,6 +1,7 @@
 import { Suspense, useCallback, useEffect, useRef } from "react"
 
 import { ABB_1200_07_7 } from "./ABB_1200_07_7"
+import { ABB_1300_115_10 } from "./ABB_1300_115_10"
 import { FANUC_ARC_Mate_100iD } from "./FANUC_ARC_Mate_100iD"
 import { FANUC_ARC_Mate_120iD } from "./FANUC_ARC_Mate_120iD"
 import { FANUC_CRX10iA } from "./FANUC_CRX10iA"
@@ -234,6 +235,9 @@ export const SupportedRobot = externalizeComponent(
       case "ABB_1200_07_7":
         Robot = ABB_1200_07_7
         break
+      case "ABB_1300_115_10":
+        Robot = ABB_1300_115_10
+        break
       default:
         console.warn(`Unknown robot type: ${modelFromController}`)
         Robot = null