@wandelbots/wandelbots-js-react-components 1.27.8 → 1.28.0

package/src/components/robots/KUKA_KR16_R2010_2.tsx

@@ -6,7 +6,11 @@ KUKA_KR16_R2010_2.config = {
   rotationOffsets: [0, 0, -Math.PI / 2, 0, 0, 0],
 }
 
-export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
+export function KUKA_KR16_R2010_2({
+  modelURL,
+  flangeRef,
+  ...props
+}: RobotModelProps) {
   const { nodes, materials } = useGLTF(modelURL) as any
 
   return (
@@ -16,22 +20,16 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
           <group name="link_0">
             <mesh
               name="visuals_0"
-              castShadow
-              receiveShadow
               geometry={nodes.visuals_0.geometry}
               material={materials.material_Material_Metall}
             />
             <mesh
               name="visuals_0_1"
-              castShadow
-              receiveShadow
               geometry={nodes.visuals_0_1.geometry}
               material={materials.material_Material_Farbe__2_}
             />
             <mesh
               name="visuals_0_2"
-              castShadow
-              receiveShadow
               geometry={nodes.visuals_0_2.geometry}
               material={materials.material_Material_Metall}
             />
@@ -58,13 +56,12 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
                     rotation={[-Math.PI / 2, 0, 0]}
                   >
                     <animated.group
+                      ref={flangeRef}
                       name="KUKA_KR16R2010_2_J05"
                       rotation={[-Math.PI / 2, 0, -Math.PI]}
                     >
                       <mesh
                         name="link_6"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.link_6.geometry}
                         material={materials.material_Material_Farbe__2_}
                         position={[0.67, 2, 0]}
@@ -73,8 +70,6 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
                     </animated.group>
                     <mesh
                       name="link_5"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.link_5.geometry}
                       material={materials.material_Material_Farbe}
                       position={[-0.67, 0, 2]}
@@ -83,8 +78,6 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
                   </animated.group>
                   <mesh
                     name="link_4"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.link_4.geometry}
                     material={materials.material_Material_Farbe}
                     position={[-0.67, 1.14, 0]}
@@ -98,22 +91,16 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
                 >
                   <mesh
                     name="visuals_3"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals_3.geometry}
                     material={materials.material_Material_Farbe}
                   />
                   <mesh
                     name="visuals_3_1"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals_3_1.geometry}
                     material={materials.material_Material_Metall}
                   />
                   <mesh
                     name="visuals_3_2"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals_3_2.geometry}
                     material={materials.material_Material_Farbe__2_}
                   />
@@ -126,15 +113,11 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
               >
                 <mesh
                   name="visuals_2"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals_2.geometry}
                   material={materials.material_Material_Farbe}
                 />
                 <mesh
                   name="visuals_2_1"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals_2_1.geometry}
                   material={materials.material_Material_Metall}
                 />
@@ -143,22 +126,16 @@ export function KUKA_KR16_R2010_2({ modelURL, ...props }: RobotModelProps) {
             <group name="link_1">
               <mesh
                 name="visuals_1"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_1.geometry}
                 material={materials.material_Material_Farbe}
               />
               <mesh
                 name="visuals_1_1"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_1_1.geometry}
                 material={materials.material_Material_Farbe__2_}
               />
               <mesh
                 name="visuals_1_2"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_1_2.geometry}
                 material={materials.material_Material_Metall}
               />

package/src/components/robots/KUKA_KR210_R2700.tsx

@@ -6,7 +6,11 @@ KUKA_KR210_R2700.config = {
   rotationOffsets: [0, 0, -Math.PI / 2, 0, 0, 0],
 }
 
-export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
+export function KUKA_KR210_R2700({
+  modelURL,
+  flangeRef,
+  ...props
+}: RobotModelProps) {
   const gltf = useGLTF(modelURL) as any
 
   const nodes = gltf.nodes
@@ -43,6 +47,7 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                         rotation={[Math.PI / 2, 0, 0]}
                       >
                         <group
+                          ref={flangeRef}
                           name="flange"
                           position={[0, -0.215, 0]}
                           rotation={[-Math.PI, 0, 0]}
@@ -54,8 +59,6 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                         >
                           <mesh
                             name="visuals006"
-                            castShadow
-                            receiveShadow
                             geometry={nodes.visuals006.geometry}
                             material={materials.material_Material_Metall_black}
                           />
@@ -69,15 +72,11 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                         <group name="visuals005">
                           <mesh
                             name="visuals005_1"
-                            castShadow
-                            receiveShadow
                             geometry={nodes.visuals005_1.geometry}
                             material={materials.material_Material_metal_black}
                           />
                           <mesh
                             name="visuals005_2"
-                            castShadow
-                            receiveShadow
                             geometry={nodes.visuals005_2.geometry}
                             material={materials.material_Material_kuka_orange}
                           />
@@ -92,15 +91,11 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                       <group name="visuals004">
                         <mesh
                           name="visuals004_1"
-                          castShadow
-                          receiveShadow
                           geometry={nodes.visuals004_1.geometry}
                           material={materials.material_Material_metal_black}
                         />
                         <mesh
                           name="visuals004_2"
-                          castShadow
-                          receiveShadow
                           geometry={nodes.visuals004_2.geometry}
                           material={materials.material_Material_kuka_orange}
                         />
@@ -115,50 +110,36 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                     <group name="visuals003">
                       <mesh
                         name="visuals003_1"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_1.geometry}
                         material={materials.material_Material_rubber}
                       />
                       <mesh
                         name="visuals003_2"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_2.geometry}
                         material={materials.material_Material_aluminium}
                       />
                       <mesh
                         name="visuals003_3"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_3.geometry}
                         material={materials.material_Material_metal_black}
                       />
                       <mesh
                         name="visuals003_4"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_4.geometry}
                         material={materials.material_Material_kuka_black}
                       />
                       <mesh
                         name="visuals003_5"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_5.geometry}
                         material={materials.material_Material_Rubber_black}
                       />
                       <mesh
                         name="visuals003_6"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_6.geometry}
                         material={materials.material_Material_kuka_orange}
                       />
                       <mesh
                         name="visuals003_7"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals003_7.geometry}
                         material={materials.material_Material_stainless_steel}
                       />
@@ -173,22 +154,16 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                   <group name="visuals002">
                     <mesh
                       name="visuals002_1"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals002_1.geometry}
                       material={materials.material_Material_metal_black}
                     />
                     <mesh
                       name="visuals002_2"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals002_2.geometry}
                       material={materials.material_Material_Rubber_black}
                     />
                     <mesh
                       name="visuals002_3"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals002_3.geometry}
                       material={materials.material_Material_kuka_orange}
                     />
@@ -199,50 +174,36 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
                 <group name="visuals001">
                   <mesh
                     name="visuals001_1"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_1.geometry}
                     material={materials.material_Material_kuka_black}
                   />
                   <mesh
                     name="visuals001_2"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_2.geometry}
                     material={materials.material_Material_kuka_orange}
                   />
                   <mesh
                     name="visuals001_3"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_3.geometry}
                     material={materials.material_Material_rubber}
                   />
                   <mesh
                     name="visuals001_4"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_4.geometry}
                     material={materials.material_Material_metal_black}
                   />
                   <mesh
                     name="visuals001_5"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_5.geometry}
                     material={materials.material_Material_aluminium}
                   />
                   <mesh
                     name="visuals001_6"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_6.geometry}
                     material={materials.material_Material_rubber_black}
                   />
                   <mesh
                     name="visuals001_7"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals001_7.geometry}
                     material={materials.material_Material_stainless_steel}
                   />
@@ -253,15 +214,11 @@ export function KUKA_KR210_R2700({ modelURL, ...props }: RobotModelProps) {
               <group name="visuals">
                 <mesh
                   name="visuals_1"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals_1.geometry}
                   material={materials.material_Material_kuka_black}
                 />
                 <mesh
                   name="visuals_2"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals_2.geometry}
                   material={materials.material_Material_metal_black}
                 />

package/src/components/robots/KUKA_KR270_R2700.tsx

@@ -6,7 +6,11 @@ KUKA_KR270_R2700.config = {
   rotationOffsets: [0, 0, -Math.PI / 2, 0, 0, 0],
 }
 
-export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
+export function KUKA_KR270_R2700({
+  modelURL,
+  flangeRef,
+  ...props
+}: RobotModelProps) {
   const gltf = useGLTF(modelURL) as any
 
   const nodes = gltf.nodes
@@ -42,6 +46,7 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                       rotation={[Math.PI / 2, 0, 0]}
                     >
                       <group
+                        ref={flangeRef}
                         name="flange"
                         position={[0, -0.24, 0]}
                         rotation={[-Math.PI, 0, 0]}
@@ -54,15 +59,11 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                         <group name="visuals006">
                           <mesh
                             name="visuals006_1"
-                            castShadow
-                            receiveShadow
                             geometry={nodes.visuals006_1.geometry}
                             material={materials.material_Material_Farbe__1_}
                           />
                           <mesh
                             name="visuals006_2"
-                            castShadow
-                            receiveShadow
                             geometry={nodes.visuals006_2.geometry}
                             material={materials.material_Material_Metall}
                           />
@@ -76,8 +77,6 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                     >
                       <mesh
                         name="visuals005"
-                        castShadow
-                        receiveShadow
                         geometry={nodes.visuals005.geometry}
                         material={materials.material_Material_Farbe}
                       />
@@ -90,8 +89,6 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                   >
                     <mesh
                       name="visuals004"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals004.geometry}
                       material={materials.material_Material_Farbe}
                     />
@@ -105,29 +102,21 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                   <group name="visuals003">
                     <mesh
                       name="visuals003_1"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals003_1.geometry}
                       material={materials.material_Material_Farbe__1_}
                     />
                     <mesh
                       name="visuals003_2"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals003_2.geometry}
                       material={materials.material_Material_Farbe__2_}
                     />
                     <mesh
                       name="visuals003_3"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals003_3.geometry}
                       material={materials.material_Material_Metall}
                     />
                     <mesh
                       name="visuals003_4"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.visuals003_4.geometry}
                       material={materials.material_Material_Farbe}
                     />
@@ -138,29 +127,21 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
                 <group name="visuals002">
                   <mesh
                     name="visuals002_1"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals002_1.geometry}
                     material={materials.material_Material_Farbe}
                   />
                   <mesh
                     name="visuals002_2"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals002_2.geometry}
                     material={materials.material_Material_Farbe__1_}
                   />
                   <mesh
                     name="visuals002_3"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals002_3.geometry}
                     material={materials.material_Material_Metall}
                   />
                   <mesh
                     name="visuals002_4"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals002_4.geometry}
                     material={materials.material_Material_Farbe__2_}
                   />
@@ -171,29 +152,21 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
               <group name="visuals001">
                 <mesh
                   name="visuals001_1"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals001_1.geometry}
                   material={materials.material_Material_Metall}
                 />
                 <mesh
                   name="visuals001_2"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals001_2.geometry}
                   material={materials.material_Material_Farbe__1_}
                 />
                 <mesh
                   name="visuals001_3"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals001_3.geometry}
                   material={materials.material_Material_Farbe__2_}
                 />
                 <mesh
                   name="visuals001_4"
-                  castShadow
-                  receiveShadow
                   geometry={nodes.visuals001_4.geometry}
                   material={materials.material_Material_Farbe}
                 />
@@ -204,15 +177,11 @@ export function KUKA_KR270_R2700({ modelURL, ...props }: RobotModelProps) {
             <group name="visuals">
               <mesh
                 name="visuals_1"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_1.geometry}
                 material={materials.material_Material_Metall}
               />
               <mesh
                 name="visuals_2"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_2.geometry}
                 material={materials.material_Material_Farbe__1_}
               />

package/src/components/robots/KUKA_KR6_R700_2.tsx

@@ -7,7 +7,11 @@ KUKA_KR6_R700_2.config = {
   rotationSign: [-1, 1, 1, 1, 1, 1],
 }
 
-export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
+export function KUKA_KR6_R700_2({
+  modelURL,
+  flangeRef,
+  ...props
+}: RobotModelProps) {
   const { nodes, materials } = useGLTF(modelURL) as any
   return (
     <group {...props} dispose={null}>
@@ -15,15 +19,11 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
         <group name="link_0">
           <mesh
             name="visuals_0"
-            castShadow
-            receiveShadow
             geometry={nodes.visuals_0.geometry}
             material={materials.kuka_metal}
           />
           <mesh
             name="visuals_0_1"
-            castShadow
-            receiveShadow
             geometry={nodes.visuals_0_1.geometry}
             material={materials.kuka_black}
           />
@@ -54,14 +54,13 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
                     rotation={[-Math.PI / 2, 0, -Math.PI]}
                   >
                     <group
+                      ref={flangeRef}
                       name="KUKA_KR6R700-2_FLG"
                       position={[0, -0.09, 0]}
                       rotation={[-Math.PI, 0, 0]}
                     />
                     <mesh
                       name="link_6"
-                      castShadow
-                      receiveShadow
                       geometry={nodes.link_6.geometry}
                       material={materials.kuka_black}
                       position={[0.425, 0.725, 0]}
@@ -70,8 +69,6 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
                   </animated.group>
                   <mesh
                     name="link_5"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.link_5.geometry}
                     material={materials.kuka_white}
                     position={[-0.425, 0, 0.725]}
@@ -85,15 +82,11 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
                 >
                   <mesh
                     name="visuals_4"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals_4.geometry}
                     material={materials.kuka_white}
                   />
                   <mesh
                     name="visuals_4_1"
-                    castShadow
-                    receiveShadow
                     geometry={nodes.visuals_4_1.geometry}
                     material={materials.kuka_orange}
                   />
@@ -101,8 +94,6 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
               </animated.group>
               <mesh
                 name="link_3"
-                castShadow
-                receiveShadow
                 geometry={nodes.link_3.geometry}
                 material={materials.kuka_white}
                 position={[-0.4, 0, 0.36]}
@@ -116,15 +107,11 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
             >
               <mesh
                 name="visuals_2"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_2.geometry}
                 material={materials.kuka_white}
               />
               <mesh
                 name="visuals_2_1"
-                castShadow
-                receiveShadow
                 geometry={nodes.visuals_2_1.geometry}
                 material={materials.kuka_orange}
               />
@@ -132,8 +119,6 @@ export function KUKA_KR6_R700_2({ modelURL, ...props }: RobotModelProps) {
           </animated.group>
           <mesh
             name="link_1"
-            castShadow
-            receiveShadow
             geometry={nodes.link_1.geometry}
             material={materials.kuka_white}
           />

package/src/components/robots/Robot.tsx

@@ -1,12 +1,14 @@
 import { type GroupProps } from "@react-three/fiber"
 
 import type { ConnectedMotionGroup } from "@wandelbots/wandelbots-js"
+import type { Group } from "three"
 import { defaultGetModel, SupportedRobot } from "./SupportedRobot"
 
 export type RobotProps = {
   connectedMotionGroup: ConnectedMotionGroup
   getModel?: (modelFromController: string) => string
   isGhost?: boolean
+  flangeRef?: React.MutableRefObject<Group>
 } & GroupProps
 
 /**
@@ -24,6 +26,7 @@ export function Robot({
   connectedMotionGroup,
   getModel = defaultGetModel,
   isGhost = false,
+  flangeRef,
   ...props
 }: RobotProps) {
   if (!connectedMotionGroup.dhParameters) {
@@ -39,6 +42,7 @@ export function Robot({
       dhParameters={connectedMotionGroup.dhParameters}
       getModel={getModel}
       isGhost={isGhost}
+      flangeRef={flangeRef}
       {...props}
     />
   )

package/src/components/robots/SupportedRobot.tsx

@@ -53,6 +53,7 @@ export type SupportedRobotProps = {
   dhParameters: DHParameter[]
   getModel?: (modelFromController: string) => string
   isGhost?: boolean
+  flangeRef?: React.MutableRefObject<THREE.Group>
 } & GroupProps
 
 export function defaultGetModel(modelFromController: string): string {
@@ -66,6 +67,7 @@ export const SupportedRobot = externalizeComponent(
     dhParameters,
     getModel = defaultGetModel,
     isGhost = false,
+    flangeRef,
     ...props
   }: SupportedRobotProps) => {
     let Robot: RobotModelComponent | null = null
@@ -276,7 +278,11 @@ export const SupportedRobot = externalizeComponent(
                 rapidlyChangingMotionState={rapidlyChangingMotionState}
                 robotConfig={Robot.config}
               >
-                <Robot modelURL={getModel(modelFromController)} {...props} />
+                <Robot
+                  modelURL={getModel(modelFromController)}
+                  flangeRef={flangeRef}
+                  {...props}
+                />
               </RobotAnimator>
             ) : (
               <DHRobot