@wandelbots/wandelbots-js-react-components 1.24.0 → 1.24.1

package/dist/index.cjs

@@ -80,5 +80,5 @@ const theme2 = createTheme({ palette: {
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Promise.all([n.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),n.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),n.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Jo(t,r,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const n=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),n&&await n.closed();try{await this.jogger.nova.api.motionGroupJogging.stopJogging(this.jogger.motionGroupId)}catch(r){console.error(r)}t.requireManualReactivation&&dt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){const{currentTab:n,selectedTcpId:r,activeCoordSystemId:a,activeDiscreteIncrement:s,jogger:i}=this;if(this.activationState!=="loading"&&!(this.manualActivationRequired&&!t.manual)){dt.runInAction(()=>{this.activationState="loading",this.activationError=null});try{await this.jogger.nova.api.controller.setDefaultMode(this.jogger.motionStream.controllerId,"MODE_CONTROL")}catch(l){console.error(l)}if(n.id==="cartesian"){const l={tcpId:r,coordSystemId:a};s?i.setJoggingMode("increment",l):i.setJoggingMode("cartesian",l)}else i.setJoggingMode("joint");if(i.activeWebsocket)try{i.stop(),await i.activeWebsocket.nextMessage()}catch(l){dt.runInAction(()=>{this.activationState="inactive",this.activationError=l});return}dt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Lt.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 P1}get discreteIncrementOptions(){return ho}get incrementOptionsById(){return Sn(this.incrementOptions,t=>t.id)}get tabsById(){return Sn(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 Sn(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 Sn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:ho.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,n){const 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N1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...t,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR10e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J02",position:[0,.181,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J03",position:[-.613,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J04",position:[-.572,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J05",position:[0,.174,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J06",position:[0,.12,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_FLG",position:[1.184,-.174,.061],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000493",geometry:r["C-1000493"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000493_1",geometry:r["C-1000493_1"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]}),o.jsx("group",{name:"UR10e_L07",position:[0,.117,0]})]}),o.jsxs("group",{name:"UR10e_L06",position:[1.184,.181,.174],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"C-1000492",geometry:r["C-1000492"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_1",geometry:r["C-1000492_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_2",geometry:r["C-1000492_2"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_3",geometry:r["C-1000492_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L05",position:[1.184,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000491",geometry:r["C-1000491"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_1",geometry:r["C-1000491_1"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_2",geometry:r["C-1000491_2"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_3",geometry:r["C-1000491_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L04",position:[.613,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000490",geometry:r["C-1000490"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_1",geometry:r["C-1000490_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_2",geometry:r["C-1000490_2"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_3",geometry:r["C-1000490_3"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs(b.animated.group,{name:"UR10e_L03",position:[0,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000489",geometry:r["C-1000489"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_1",geometry:r["C-1000489_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_2",geometry:r["C-1000489_2"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_3",geometry:r["C-1000489_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_4",geometry:r["C-1000489_4"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L02",children:[o.jsx("mesh",{name:"C-1000488",geometry:r["C-1000488"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_1",geometry:r["C-1000488_1"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_2",geometry:r["C-1000488_2"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_3",geometry:r["C-1000488_3"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000487",geometry:r["C-1000487"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000487_1",geometry:r["C-1000487_1"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]})]})})})})}function F1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...t,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR3",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J02",position:[0,.152,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J03",position:[-.244,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J04",position:[-.213,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J05",position:[0,.112,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"UR3_05",castShadow:!0,receiveShadow:!0,geometry:r.UR3_05.geometry,material:a.Standard}),o.jsxs(b.animated.group,{name:"UR3_J06",position:[0,.085,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{name:"UR3_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"UR3_L06",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L06.geometry,material:a.Standard})]})]}),o.jsx("mesh",{name:"UR3_L04",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L04.geometry,material:a.Standard})]}),o.jsx("mesh",{name:"UR3_L03",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L03.geometry,material:a.Standard})]}),o.jsx("mesh",{name:"UR3_L02",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L02.geometry,material:a.Standard})]}),o.jsx("mesh",{name:"UR3_L01",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L01.geometry,material:a.Standard})]}),o.jsx("mesh",{name:"UR3_L00",castShadow:!0,receiveShadow:!0,geometry:r.UR3_L00.geometry,material:a.Standard,rotation:[-Math.PI/2,0,0]})]})})})})}function B1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return 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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 r)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((s=r[0])==null?void 0:s.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",dt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(dt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:n}=t,[r,{coordinatesystems:a},{tcps:s}]=await Promise.all([n.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),n.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),n.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Jo(t,r,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const n=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),n&&await n.closed();try{await this.jogger.nova.api.motionGroupJogging.stopJogging(this.jogger.motionGroupId)}catch(r){console.error(r)}t.requireManualReactivation&&dt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){if(console.log("activate!!"),!(this.manualActivationRequired&&!t.manual)){dt.runInAction(()=>{this.activationState="loading",this.activationError=null});try{await this.jogger.nova.api.controller.setDefaultMode(this.jogger.motionStream.controllerId,"MODE_CONTROL")}catch(n){console.error(n)}if(this.currentTab.id==="cartesian"){const n={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",n):this.jogger.setJoggingMode("cartesian",n)}else this.jogger.setJoggingMode("joint");if(this.jogger.activeWebsocket)try{this.jogger.stop(),await this.jogger.activeWebsocket.nextMessage()}catch(n){dt.runInAction(()=>{this.activationState="inactive",this.activationError=n});return}dt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Lt.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 P1}get discreteIncrementOptions(){return ho}get incrementOptionsById(){return Sn(this.incrementOptions,t=>t.id)}get tabsById(){return Sn(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 Sn(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 Sn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:ho.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,n){const r=this.tabs[n]||this.tabs[0];this.selectedTabId=r.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 n=A1();this.locks.add(n);try{return await t()}finally{this.locks.delete(n)}}}const I1=on(ke.observer(e=>{const t=po.isString(e.nova)?new Lt.NovaClient({instanceUrl:e.nova}):e.nova,n=ke.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function r(){dt.runInAction(()=>{n.loadingError=null,n.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),s=await Jo.loadFor(a);dt.runInAction(()=>{n.joggingStore=s}),e.onSetup&&e.onSetup(s)}catch(a){n.loadingError=a}}return Q.useEffect(()=>(r(),()=>{var a;(a=n.joggingStore)==null||a.dispose()}),[e.nova,e.motionGroupId]),Q.useEffect(()=>{const a=n.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(k.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:n.joggingStore?o.jsx(M1,{store:n.joggingStore,children:e.children}):o.jsx(ha,{message:"Loading jogging",error:n.loadingError})})})),M1=ke.observer(({store:e,children:t})=>{Q.useEffect(()=>{function r(){e.deactivate()}function a(){e.activate()}return window.addEventListener("blur",r),window.addEventListener("focus",a),()=>{window.removeEventListener("blur",r),window.removeEventListener("focus",a)}}),To(()=>[e.currentTab.id,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState!=="inactive"&&e.activate()});function n(){if(e.currentTab.id==="cartesian")return o.jsx(o.Fragment,{children:o.jsx(D_,{store:e,children:t})});if(e.currentTab.id==="joint")return o.jsx(o.Fragment,{children:o.jsx(J_,{store:e,children:t})})}return o.jsxs(k.Stack,{flexGrow:1,height:"100%",children:[o.jsx(k.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(r=>o.jsx(k.Tab,{label:r.label,id:`jogging-tab-${r.id}`,"aria-controls":`jogging-tab-${r.id}`},r.id))}),o.jsx(k.Stack,{flexGrow:1,position:"relative",children:n()})]})});function T1(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function k1({baseUrl:e=T1(),...t}){return o.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 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o.jsx(o.Fragment,{children:o.jsx("group",{...t,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"IRB1200_7_70_IRC5",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J02",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J03",position:[.35,0,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J04",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J05",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"IRB1200_7_70_IRC5_J06",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{name:"IRB1200_7_70_IRC5_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L06",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L06.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L05",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L05.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L04",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L04.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L03",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L03.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L02",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L02.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L01",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L01.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[Math.PI/2,0,0]})]}),o.jsx("mesh",{name:"IRB1200_7_70_IRC5_L00",castShadow:!0,receiveShadow:!0,geometry:r.IRB1200_7_70_IRC5_L00.geometry,material:a["IRB1200_7-70_IRC5.003_Bake"],rotation:[-Math.PI/2,0,0]})]})})})})}gu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function gu({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return o.jsx("group",{...t,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsx("mesh",{name:"link_0",castShadow:!0,receiveShadow:!0,geometry:r.link_0.geometry,material:a.Plastic}),o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J00",children:[o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J01",position:[.15,.544,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J02",position:[.575,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J03",position:[.04,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J04",position:[0,.425,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB_1300_115_10_J05",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{name:"ABB_IRB_1300_115_10_FLG",position:[0,.092,0]}),o.jsx("mesh",{name:"link_6",castShadow:!0,receiveShadow:!0,geometry:r.link_6.geometry,material:a.Metal,position:[1.159,-.575,0],rotation:[0,0,Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",castShadow:!0,receiveShadow:!0,geometry:r.link_5.geometry,material:a.Plastic,position:[-1.159,0,.575],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-1.159,-.15,0],rotation:[-Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals004",castShadow:!0,receiveShadow:!0,geometry:r.visuals004.geometry,material:a.Plastic}),o.jsx("mesh",{name:"visuals004_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals004_1.geometry,material:a.PlasticRed})]})]}),o.jsxs("group",{name:"link_3",position:[-1.119,0,.15],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals003",castShadow:!0,receiveShadow:!0,geometry:r.visuals003.geometry,material:a.Plastic}),o.jsx("mesh",{name:"visuals003_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals003_1.geometry,material:a.PlasticRed}),o.jsx("mesh",{name:"visuals003_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals003_2.geometry,material:a.Plastic})]})]}),o.jsx("mesh",{name:"link_2",castShadow:!0,receiveShadow:!0,geometry:r.link_2.geometry,material:a.Plastic,position:[-.544,0,.15],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_1",castShadow:!0,receiveShadow:!0,geometry:r.link_1.geometry,material:a.Plastic})]})]})})}pu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function pu({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return 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o.jsx("group",{...t,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",castShadow:!0,receiveShadow:!0,geometry:n.visuals_0.geometry,material:r.kuka_metal}),o.jsx("mesh",{name:"visuals_0_1",castShadow:!0,receiveShadow:!0,geometry:n.visuals_0_1.geometry,material:r.kuka_black})]}),o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J00",children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J01",position:[.025,.4,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J02",position:[.335,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J03",position:[.025,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J04",position:[0,-.365,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J05",rotation:[-Math.PI/2,0,-Math.PI],children:[o.jsx("group",{name:"KUKA_KR6R700-2_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",castShadow:!0,receiveShadow:!0,geometry:n.link_6.geometry,material:r.kuka_black,position:[.425,.725,0],rotation:[-Math.PI,0,Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",castShadow:!0,receiveShadow:!0,geometry:n.link_5.geometry,material:r.kuka_white,position:[-.425,0,.725],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.425,.36,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",castShadow:!0,receiveShadow:!0,geometry:n.visuals_4.geometry,material:r.kuka_white}),o.jsx("mesh",{name:"visuals_4_1",castShadow:!0,receiveShadow:!0,geometry:n.visuals_4_1.geometry,material:r.kuka_orange})]})]}),o.jsx("mesh",{name:"link_3",castShadow:!0,receiveShadow:!0,geometry:n.link_3.geometry,material:r.kuka_white,position:[-.4,0,.36],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_2",position:[-.025,0,-.4],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",castShadow:!0,receiveShadow:!0,geometry:n.visuals_2.geometry,material:r.kuka_white}),o.jsx("mesh",{name:"visuals_2_1",castShadow:!0,receiveShadow:!0,geometry:n.visuals_2_1.geometry,material:r.kuka_orange})]})]}),o.jsx("mesh",{name:"link_1",castShadow:!0,receiveShadow:!0,geometry:n.link_1.geometry,material:r.kuka_white})]})]})})}function $1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return o.jsx("group",{...t,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J00",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",castShadow:!0,receiveShadow:!0,geometry:r.visuals_0.geometry,material:a.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_0_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_0_1.geometry,material:a.universalrobots_aluminum})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J01",position:[0,.127,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_1",position:[0,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1.geometry,material:a.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1_1.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1_2.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1_3.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_4",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1_4.geometry,material:a.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_5",castShadow:!0,receiveShadow:!0,geometry:r.visuals_1_5.geometry,material:a.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J02",position:[-.612,0,0],children:[o.jsxs("group",{name:"link_2",position:[.612,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2.geometry,material:a.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2_1.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2_2.geometry,material:a.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_2_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2_3.geometry,material:a.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_4",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2_4.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_5",castShadow:!0,receiveShadow:!0,geometry:r.visuals_2_5.geometry,material:a.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J03",position:[-.572,0,0],children:[o.jsxs("group",{name:"link_3",position:[1.184,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_3.geometry,material:a.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_3_1.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_3_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_3_2.geometry,material:a.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_3_3.geometry,material:a.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_4",castShadow:!0,receiveShadow:!0,geometry:r.visuals_3_4.geometry,material:a.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J04",position:[0,.164,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_4",position:[1.184,.127,.164],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_4",castShadow:!0,receiveShadow:!0,geometry:r.visuals_4.geometry,material:a.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_4_1.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_4_2.geometry,material:a.universalrobots_black}),o.jsx("mesh",{name:"visuals_4_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_4_3.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_4",castShadow:!0,receiveShadow:!0,geometry:r.visuals_4_4.geometry,material:a.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J05",position:[0,.116,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[1.184,-.164,.012],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_5",castShadow:!0,receiveShadow:!0,geometry:r.visuals_5.geometry,material:a.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_1",castShadow:!0,receiveShadow:!0,geometry:r.visuals_5_1.geometry,material:a.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_5_2",castShadow:!0,receiveShadow:!0,geometry:r.visuals_5_2.geometry,material:a.universalrobots_black}),o.jsx("mesh",{name:"visuals_5_3",castShadow:!0,receiveShadow:!0,geometry:r.visuals_5_3.geometry,material:a.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_5_4",castShadow:!0,receive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N1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...t,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR10e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J02",position:[0,.181,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J03",position:[-.613,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J04",position:[-.572,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J05",position:[0,.174,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J06",position:[0,.12,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_FLG",position:[1.184,-.174,.061],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000493",geometry:r["C-1000493"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000493_1",geometry:r["C-1000493_1"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]}),o.jsx("group",{name:"UR10e_L07",position:[0,.117,0]})]}),o.jsxs("group",{name:"UR10e_L06",position:[1.184,.181,.174],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"C-1000492",geometry:r["C-1000492"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_1",geometry:r["C-1000492_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_2",geometry:r["C-1000492_2"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000492_3",geometry:r["C-1000492_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L05",position:[1.184,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000491",geometry:r["C-1000491"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_1",geometry:r["C-1000491_1"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_2",geometry:r["C-1000491_2"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000491_3",geometry:r["C-1000491_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L04",position:[.613,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000490",geometry:r["C-1000490"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_1",geometry:r["C-1000490_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_2",geometry:r["C-1000490_2"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000490_3",geometry:r["C-1000490_3"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs(b.animated.group,{name:"UR10e_L03",position:[0,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000489",geometry:r["C-1000489"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_1",geometry:r["C-1000489_1"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_2",geometry:r["C-1000489_2"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_3",geometry:r["C-1000489_3"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000489_4",geometry:r["C-1000489_4"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L02",children:[o.jsx("mesh",{name:"C-1000488",geometry:r["C-1000488"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_1",geometry:r["C-1000488_1"].geometry,material:a.Blue,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_2",geometry:r["C-1000488_2"].geometry,material:a.Screw,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000488_3",geometry:r["C-1000488_3"].geometry,material:a.DarkGray,castShadow:!0,receiveShadow:!0})]})]}),o.jsxs("group",{name:"UR10e_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000487",geometry:r["C-1000487"].geometry,material:a.Black,castShadow:!0,receiveShadow:!0}),o.jsx("mesh",{name:"C-1000487_1",geometry:r["C-1000487_1"].geometry,material:a.Metal,castShadow:!0,receiveShadow:!0})]})]})})})})}function F1({modelURL:e,...t}){const n=X.useGLTF(e),r=n.nodes,a=n.materials;return 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Vo(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const ku=on(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:n,getModel:r=Vo,isGhost:a=!1,...s})=>{let i=null;const l=Q.useRef(),u=Q.useCallback(h=>{h&&(l.current=h,a&&c())},[a]),c=()=>{!l.current||l.current.userData.isGhost||(l.current.traverse(h=>{if(h instanceof Ie.Mesh){h.material instanceof Ie.Material&&(h.material.colorWrite=!0);const m=h.clone(),v=h.clone();m.material=new Ie.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),m.userData.isGhost=!0,v.material=new Ie.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.isGhost=!0)},d=()=>{if(!l.current||!l.current.userData.isGhost)return;const h=[];l.current.traverse(m=>{var v;m instanceof Ie.Mesh&&((v=m.userData)!=null&&v.isGhost?h.push(m):m.material instanceof Ie.Material&&(m.material.colorWrite=!0))}),h.forEach(m=>{m.parent&&m.parent.remove(m)}),l.current.userData.isGhost=!0};switch(Q.useEffect(()=>{a?c():d()},[a]),t){case"UniversalRobots_UR3CB":i=F1;break;case"UniversalRobots_UR3e":i=B1;break;case"UniversalRobots_UR5CB":i=D1;break;case"UniversalRobots_UR5e":i=U1;break;case"UniversalRobots_UR10CB":i=$1;break;case"UniversalRobots_UR10e":i=N1;break;case"Yaskawa_AR900":i=go;break;case"Yaskawa_GP7":i=go;break;case"Yaskawa_AR1440":i=ju;break;case"Yaskawa_AR1730":i=Ru;break;case"Yaskawa_AR2010":i=Cu;break;case"Yaskawa_AR3120":i=Au;break;case"Yaskawa_GP50":i=Pu;break;case"FANUC_CRX10iA":i=yu;break;case"FANUC_CRX20iAL":i=_u;break;case"FANUC_CRX25iA":i=vu;break;case"FANUC_CRX25iAL":i=bu;break;case"FANUC_LRMATE_200ID":i=E1;break;case"FANUC_ARC_Mate_120iD":i=fo;break;case"FANUC_ARC_Mate_120iD35":i=fo;break;case"FANUC_ARC_Mate_100iD":i=pu;break;case"KUKA_KR210_R2700":i=xu;break;case"KUKA_KR270_R2700":i=wu;break;case"KUKA_KR16_R2010_2":i=Su;break;case"KUKA_KR6_R700_2":i=L1;break;case"ABB_1200_07_7":i=fu;break;case"ABB_1300_115_10":i=gu;break;default:console.warn(`Unknown robot type: ${t}`),i=null}return o.jsxs(Ku.ErrorBoundary,{fallback:o.jsx(Ja,{rapidlyChangingMotionState:e,dhParameters:n,...s}),children:[o.jsx(Q.Suspense,{fallback:o.jsx(Ja,{rapidlyChangingMotionState:e,dhParameters:n,...s}),children:o.jsx("group",{ref:u,children:i?o.jsx(Tu,{rapidlyChangingMotionState:e,robotConfig:i.config,children:o.jsx(i,{modelURL:r(t),...s})}):o.jsx(Ja,{rapidlyChangingMotionState:e,dhParameters:n})})}),o.jsx(z1,{})]})});function K1({connectedMotionGroup:e,getModel:t=Vo,isGhost:n=!1,...r}){return e.dhParameters?o.jsx(ku,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:t,isGhost:n,...r}):null}const W1=k.styled(k.Fab,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,n,r;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:a})=>!a,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:a})=>a,style:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}});function H1({selected:e,...t}){return o.jsx(W1,{selected:e,...t,color:"secondary",variant:"circular"})}const q1={$schema:"https://raw.githubusercontent.com/martinring/tmlanguage/master/tmlanguage.json",name:"wandelscript",patterns:[{include:"#keywords"},{include:"#strings"},{include:"#comments"},{include:"#functions"}],repository:{keywords:{patterns:[{name:"keyword.control.flow.wandelscript",match:"\\b(move|via|to|interrupt|def|False|True|for|if|else|elif|while|return|switch|activate|deactivate|print)\\b"}]},strings:{name:"string.quoted.double.wandelscript",begin:'"',end:'"',patterns:[{name:"constant.character.escape.wandelscript",match:"\\\\."}]},comments:{patterns:[{begin:"#",beginCaptures:{0:{name:"punctuation.definition.comment.wandelscript"}},end:"$",name:"comment.line.number-sign.wandelscript"}]},functions:{patterns:[{match:"[a-zA-Z_-]+\\(",name:"entity.name.function.wandelscript"}]}},scopeName:"source.wandelscript"},X1=Q.lazy(()=>import("@monaco-editor/react")),Y1=on(e=>{const t=k.useTheme(),n=Q.useRef(null),[r,a]=Q.useState("dark-plus"),s=t.palette.mode==="dark"?"dark-plus":"light-plus";async function i(l){const[{createHighlighter:u},{shikiToMonaco:c}]=await Promise.all([import("shiki"),import("@shikijs/monaco")]);l.languages.register({id:"wandelscript"}),l.languages.setLanguageConfiguration("wandelscript",{comments:{lineComment:"#"},brackets:[["(",")"],["[","]"]],autoClosingPairs:[{open:"[",close:"]"},{open:"(",close:")"}],surroundingPairs:[{open:"[",close:"]"},{open:"(",close:")"}]}),n.current||(n.current=await u({langs:[q1],themes:["dark-plus","light-plus"]})),c(n.current,l),l.editor.defineTheme(s,{base:t.palette.mode==="dark"?"vs-dark":"vs",inherit:!0,rules:[],colors:t.palette.mode==="dark"?{"editor.background":"#262F42","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#494949"}:{}}),e.monacoSetup&&e.monacoSetup(l),a(s)}return o.jsx(Q.Suspense,{fallback:o.jsx(ha,{}),children:o.jsx(X1,{value:e.code,onMount:(l,u)=>{i(u)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Ou(){var t,n,r,a,s,i;const e=k.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(r=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:r.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiDivider:{styleOverrides:{root:{border:"1px solid"}}},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiFab:{styleOverrides:{root:{background:(i=(s=e.paletteExt)==null?void 0:s.secondary)==null?void 0:i.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:"rgba(241, 77, 66, 1)",color:"rgba(255, 255, 255, 1)"},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:"rgba(28, 188, 135, 1)",color:"rgba(255, 255, 255, 1)"},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:"rgba(2, 136, 209, 1)",color:"rgba(255, 255, 255, 1)"}}}}}}function Z1(){const e=Ou();return e.palette.mode="light",e}function Q1(e){var n,r,a,s;let t=!0;return((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((r=e.palette)==null?void 0:r.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(a=window.matchMedia)==null?void 0:a.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches))),t?Ou():Z1()}exports.JoggingCartesianAxisControl=Qa;exports.JoggingJointRotationControl=yl;exports.JoggingPanel=I1;exports.LoadingCover=ha;exports.LoadingErrorMessage=Vl;exports.NoMotionGroupModal=k1;exports.PresetEnvironment=qu;exports.Robot=K1;exports.SafetyZonesRenderer=Zu;exports.SelectableFab=H1;exports.SupportedRobot=ku;exports.VelocitySlider=su;exports.WandelscriptEditor=Y1;exports.createNovaMuiTheme=Q1;exports.defaultAxisConfig=O1;exports.defaultGetModel=Vo;exports.useAnimationFrame=xr;exports.useAutorun=dl;exports.useMounted=sa;exports.useReaction=To;
 //# sourceMappingURL=index.cjs.map